Vehicle-mounted controller and communication virtualization system and method

Abstract

The invention discloses a vehicle-mounted controller and a communication virtualization system and method, and relates to the field of automobile control, and the system is based on an x86 architecture computer as a host machine; a virtual controller bottom layer model in the system simulates an actual vehicle-mounted controller on an x86 architecture computer by utilizing a virtualization technology, a layered decoupling virtualization controller is developed on the basis of the virtualization technology, and host machine hardware, a controller kernel, a simulation system and an application verification part are developed in a layered manner; on the basis of the virtual controller bottom layer model, the virtual communication bus model is compared with an actual vehicle-mounted controller bus port, simulates a bus signal by utilizing a PCI (Peripheral Component Interconnect) and a system bus, and is carried on the Ethernet through a conversion protocol; the signal closed-loop transmission model is built by using a Simulink tool, and bidirectional conversion between a controller bus signal and an external data signal is carried out. According to the method, the universal vehicle-mounted virtual controller model can be established, and the function verification efficiency of the vehicle related to the controller is improved.

Description

Technical Field

[0001] The present application relates to the field of automobile control, and in particular to a vehicle-mounted controller and a communication virtualization system and method. Background Art

[0002] The testing methods used by the automotive industry during function development can be divided into three main types: software testing, hardware testing, and real vehicle testing. As the credibility of the testing methods increases, their testing costs and difficulties are also gradually increasing. Today, the high-level autonomous driving functions of intelligent connected vehicles have high scene complexity and complex hardware equipment. Traditional hardware-dependent solutions have problems such as high development costs, high testing difficulties, and difficulty in reproducing results. In order to meet the development and testing needs of complex functions of intelligent connected vehicles, virtual simulation testing methods for functional architecture design results are increasingly valued. The evolution of electronic and electrical architecture from distributed to centralized has gradually increased the execution capabilities of on-board controllers, and the impact of controllers on function development and testing results has become increasingly obvious.

[0003] The existing controller testing method used in the vehicle function development process is basically the hardware-in-the-loop testing method. Due to the heterogeneity of the controller hardware, there are problems such as difficulty in matching functional design, complex test environment construction, and high cost.

[0004] Therefore, there is an urgent need to provide a vehicle-mounted controller and a communication virtualization method or system to establish a universal vehicle-mounted virtual controller model and improve the efficiency of vehicle function verification involving the controller. Summary of the invention

[0005] The purpose of this application is to provide a vehicle-mounted controller and communication virtualization system and method, which can establish a universal vehicle-mounted virtual controller model and improve the efficiency of vehicle function verification involving the controller.

[0006] To achieve the above objectives, this application provides the following solutions:

[0007] In a first aspect, the present application provides a vehicle-mounted controller and communication virtualization system, which is based on an x86 architecture computer as a host and is developed under a QEMU / KVM virtual machine framework; the vehicle-mounted controller and communication virtualization system includes: a virtual controller underlying model, a virtual communication bus model, and a signal closed-loop transmission model; the virtual controller underlying model and the virtual communication bus model constitute a virtual controller model;

[0008] The virtual controller bottom model is used to simulate the actual vehicle controller using virtualization technology on an x86 architecture computer, develop a layered decoupled virtualized controller based on virtualization technology, and develop the host hardware, controller kernel, simulation system and application verification part in layers;

[0009] The virtual communication bus model is used to simulate bus signals using PCI and system bus based on the underlying model of the virtual controller, and is carried on Ethernet through a conversion protocol in comparison with the actual on-board controller bus port;

[0010] The signal closed-loop transmission model is used to be built using the Simulink tool to perform bidirectional conversion between the controller bus signal and the external data signal.

[0011] Optionally, the virtual controller bottom layer model specifically includes: a CPU virtual model, a memory virtual model, and a kernel and system virtual model;

[0012] The CPU virtual model is used to add a client mode to virtualize the host CPU; corresponding to the VMX non-root mode when the host CPU is running, a loop process is executed to map the virtual machine including the virtual controller to the host CPU;

[0013] The memory virtual model is used to isolate the physical address of the virtual machine by adopting an extended page table mechanism, and to convert the host machine virtual address into the host machine physical address to access the physical memory through the memory management unit, so as to realize memory virtualization;

[0014] The kernel and system virtual model is used to embed the kernel file into the virtual machine QEMU process, and use the u-boot boot item to mount the system in the virtualized kernel to form a complete virtual controller operating environment.

[0015] Optionally, in the memory virtual model, a memory_region_init() function is used to initialize a storage area including an internal small area; a memory_region_add_subregion() function is used to divide the storage interval according to the offset address in the total storage area; and a memory_region_init_io() function is used to divide the memory area into memory areas for I / O operations.

[0016] Optionally, the signal closed-loop transmission model includes: a virtual controller signal transceiver model, a function control detection model and a simulation scenario signal transceiver model;

[0017] The virtual controller signal transceiver model is used to transmit data through a custom I / O signal module toolbox;

[0018] The function control detection model is used to configure I / O port parameters, shield part of the communication line during debugging to test specific instructions, and observe the function operation status;

[0019] The simulation scenario signal transceiver model is used to receive and send data signals required for vehicle function testing; the data signals required for vehicle function testing include: vehicle status, vehicle control, radar data and camera data.

[0020] Optionally, the virtual controller signal transceiver model transmission data types include: AN / CAN FD, LIN, ADC, DIO, PWM, video stream and LiDAR.

[0021] Optionally, the function control detection model includes: an I / O port parameter configuration module, a test function instruction control module and a data monitoring and measurement module;

[0022] The I / O port parameter configuration module is used to select property parameters through the Mask interface to configure the I / O port parameters; the property parameters include: communication type, communication address, port IP and port number;

[0023] The test function instruction control module is used to shield part of the communication line during the debugging process by using the function interaction buttons to test specific instructions; the function interaction buttons include: a start button, a pause button and a stop button;

[0024] The data monitoring and measuring module is used to convert bus frame data into readable data through the bus signal real-time monitoring interface, and to observe the function operation status in real time.

[0025] Optionally, the virtual controller model communicates with the signal closed-loop transmission model via an Ethernet medium and follows 100Base-TX specification communication.

[0026] In a second aspect, the present application provides a vehicle-mounted controller and a communication virtualization method, which are applied to the vehicle-mounted controller and the communication virtualization system, and the vehicle-mounted controller and the communication virtualization method include:

[0027] Install dependencies and set up the host machine;

[0028] Obtain the ARM Cortex-A55 core to implement the construction of the intelligent driving domain virtual controller model SDK;

[0029] Obtain the ARM Cortex-R5 core to implement the chassis domain virtual controller model SDK construction;

[0030] Specify the model of simulated network card and customize the network communication address;

[0031] The host memory virtualization is enabled and the virtual bus communication function is turned on;

[0032] Run the virtual controller model and corresponding communication port;

[0033] A virtual communication bus model is adopted, and the communication address is configured to start the signal closed-loop transmission model.

[0034] Optionally, the specified simulated network card model and customized network communication address specifically include:

[0035] Use the qemu-system-arm-net nic,model=e1000-net user 192.168.76.0 command to implement it, where model=e1000 is the model of the specified simulated network card, selected according to the host machine, and -net user192.168.76.0 is the custom network communication address.

[0036] Optionally, the running of the virtual controller model and the corresponding communication port specifically includes:

[0037] Execute sudo. / scripts / run.sh -r 0 to run the intelligent driving domain virtual controller model and the corresponding communication port;

[0038] Run sudo . / scripts / run.sh -r 1 to run the chassis domain virtual controller model and the corresponding communication port.

[0039] According to the specific embodiments provided in this application, this application has the following technical effects:

[0040] The present application provides a vehicle controller and communication virtualization system and method. In comparison with the actual vehicle controller hardware, a virtual controller model compatible with multiple cores and multiple systems is developed based on the x86 host under the QEMU / KVM virtual machine framework, including ARM Cortex-A, ARM Cortex-A and other cores, Linux, FreeRTOS and other systems; a custom data conversion protocol is used, and the PCI bus is used to build a transmission model to realize the virtualization of the controller bus communication, including all controller communication ports such as Ethernet, CAN, and LIN. The virtual controller model developed based on this method can carry various types of vehicle architecture function design results, simulate the operation and communication performance of the real controller, and has the advantages of low cost, high efficiency, and accurate results. The present application improves the efficiency of vehicle function verification involving the controller by establishing a universal vehicle controller test model. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1 This is a schematic diagram of the structure of a vehicle-mounted controller and a communication virtualization system in one embodiment of the present application;

[0043] Figure 2 This is an operation flow chart of an on-vehicle controller and a communication virtualization system in one embodiment of the present application;

[0044] Figure 3 This is a flow chart of a CPU virtualization method in a virtual controller bottom layer model in an on-board controller and communication virtualization system in one embodiment of the present application;

[0045] Figure 4 This is a flow chart of a memory virtualization method in a virtual controller underlying model in an on-board controller and a communication virtualization system in one embodiment of the present application;

[0046] Figure 5 This is a flow chart of an embodiment of an on-board controller and a communication virtualization method in one embodiment of the present application. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions 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 creative work are within the scope of protection of this application.

[0048] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0049] In an exemplary embodiment, Figure 1 and Figure 2 As shown, a vehicle controller and communication virtualization system is provided, which is based on an x86 architecture computer as a host and is developed under the QEMU / KVM virtual machine framework; the vehicle controller and communication virtualization system includes: a virtual controller underlying model, a virtual communication bus model and a signal closed-loop transmission model; the virtual controller underlying model and the virtual communication bus model constitute a virtual controller model;

[0050] The virtual controller bottom model is used to simulate the actual vehicle controller using virtualization technology on an x86 architecture computer, develop a layered decoupled virtualized controller based on virtualization technology, and develop the host hardware, controller kernel, simulation system and application verification part in layers;

[0051] The virtual communication bus model is used to simulate bus signals using PCI and system bus based on the underlying model of the virtual controller, and is carried on Ethernet through a conversion protocol in comparison with the actual on-board controller bus port;

[0052] Specifically, the virtual communication bus model uses the PCI bus to implement the transceiver simulation of the CAN bus function in the QEMU virtual process of the underlying virtual model of the controller. The virtual machine uses a universal interface to complete device registration, memory allocation and I\O mapping configuration. The PCI-CAN simulation device that implements the CAN and PCI bus type conversion is hung on the internal PCI bus and uses the following structure:

[0053] Static PCIDeviceInfo PAI_CAN_info{

[0054] .pevi.name = "PCI_CAN",

[0055] .qdev.size="""sizeof(CAN_ModelState),

[0056] .init = pci_can_init,

[0057] .config_write=PCI_CAN_config_write,

[0058] .config_read=PCI_CAN_config_read};

[0059] When the PCI-CAN simulation device calls the memory area to read and write data, the virtual CAN controller sends and receives message information from the same memory area, and this part becomes the buffer for data exchange. The Linux kernel calls the corresponding CAN driver through read() and write() in file_operation to read and write the device, and the data will be read by the bus control module into the bus send queue.

[0060] In the virtual communication bus model, various types of bus data are carried on Ethernet to interact with the controller bus data and the external simulation system. The Socket interface and the Linux network protocol stack are used. The CAN bus simulation node is located in the host network layer, and the functions of sending and receiving messages are realized through the Ethernet physical interface. The transmission channel of the virtual communication bus model includes but is not limited to CAN / CAN FD, LIN, ADC, DIO, PWM, video stream, LiDAR. The bus signal and the Ethernet signal are converted to each other through a custom communication conversion protocol. The virtual controller model and the signal closed-loop transmission model 13 are connected through Ethernet and communicate in accordance with the 100Base-TX specification. Therefore, the host 1 is equipped with a standard Ethernet physical interface and supports TCP / IP protocol and UDP communication protocol. After receiving the bus information carried on Ethernet, the signal transmission model 13 performs corresponding protocol conversion, processing and other operations to form universal readable data.

[0061] The signal closed-loop transmission model is used to be built using the Simulink tool to perform bidirectional conversion between the controller bus signal and the external data signal.

[0062] In an exemplary embodiment, the virtual controller underlying model specifically includes: a CPU virtual model, a memory virtual model, and a kernel and system virtual model;

[0063] The CPU virtual model is used to add a client mode to virtualize the host CPU; corresponding to the VMX non-root mode when the host CPU is running, a loop process is executed to map the virtual machine including the virtual controller to the host CPU;

[0064] like Figure 3 As shown, the CPU virtual model adds a client mode corresponding to the VMX non-administrator mode when the host CPU is running. The Linux kernel running state has user and kernel modes. The QEMU / KVM user code runs in the user mode, and as a host process, it receives feedback and issues commands to the virtual machine, replaces the client code to execute I / O commands, and realizes CPU multi-threaded calls; the client system code runs in the client mode to realize non-I / O code execution, and can drive the host CPU to exit the VMX non-administrator mode when the host I / O needs to be called. KVM kernel mode serves as a bridge between user mode and client mode. It can switch the CPU to client mode according to instructions to execute the virtual controller code, and return the Linux kernel to kernel mode when the CPU exits the VMX non-administrator mode. The above process is executed cyclically to realize the mapping call of the virtual machine containing the virtual controller to the host CPU.

[0065] The memory virtual model is used to isolate the physical address of the virtual machine by adopting the extended page table (EPT) mechanism, and to convert the host machine virtual address into the host machine physical address to access the physical memory through the memory management unit (MMU), so as to realize memory virtualization;

[0066] In the memory virtual model, the memory_region_init() function is used to initialize the storage area including the internal small area; the memory_region_add_subregion() function is used to divide the storage interval according to the offset address in the total storage area; and the memory_region_init_io() function is used to divide the memory area into the I / O operation.

[0067] like Figure 4 As shown, the virtual machine of the memory virtual model can efficiently call physical memory to realize memory virtualization. When the virtual memory is mapped, the access interval of the RAM interface is allocated to 0x00000-0x3FFFF, and the access interval of the EEPROM interface is allocated to 0x60000-0x6FFFF. By writing the QEMU source code, the storage area management can be realized by using the built-in function.

[0068] The virtual controller model runs independently in the host virtual machine environment and has a complete structure including the kernel and system; the kernel and system virtual models are used to embed the kernel file into the virtual machine QEMU process, and use the u-boot boot item to mount the system in the virtualized kernel to form a complete virtual controller operating environment.

[0069] This embodiment develops two types of virtual vehicle controllers. The underlying model of the virtual controller one simulates an ARM Cortex-A core and a Linux OS system, simulating a vehicle intelligent driving domain controller, and has the ability to efficiently process large amounts of data; the underlying model of the virtual controller two simulates four ARM Cortex-R cores and a FreeRTOS system, simulating a vehicle chassis control domain controller, and can meet high real-time requirements.

[0070] The CPU virtual model, memory virtual model, kernel and system virtual model together constitute a complete virtual controller operating environment.

[0071] The universal port developed by the virtual communication bus model can define and call the port quantity, address, etc. according to the test requirements, and can meet the functional results of the virtual controller for multi-type data reception and transmission requirements, including CAN, LIN, ETH and other communication types, using the Socket interface and Linux network protocol stack.

[0072] The signal closed-loop transmission model uses the MATLAB toolbox function to design and develop a virtual controller I / O function module toolbox, encapsulates different types of communication methods into available modules, which are consistent with the port type of the virtual bus communication model. Then, the Mask interface is edited, the callback function is written, and the S-Function code is written to achieve association with the module function code.

[0073] The signal closed-loop transmission model includes: a virtual controller signal transceiver model, a function control detection model and a simulation scene signal transceiver model;

[0074] The virtual controller signal transceiver model is used to transmit data through a custom I / O signal module toolbox;

[0075] The function control detection model is used to configure I / O port parameters, shield part of the communication line during debugging to test specific instructions, and observe the function operation status;

[0076] The simulation scenario signal transceiver model is used to receive and send data signals required for vehicle function testing; the data signals required for vehicle function testing include but are not limited to: vehicle status, vehicle control, radar data and camera data.

[0077] The virtual controller signal transceiver model transmits data types including but not limited to: AN / CAN FD, LIN, ADC, DIO, PWM, video stream, and LiDAR.

[0078] The functional control detection model includes: an I / O port parameter configuration module, a test function instruction control module and a data monitoring and measurement module;

[0079] The I / O port parameter configuration module is used to select property parameters through the Mask interface to configure the I / O port parameters; the property parameters include but are not limited to: communication type, communication address, port IP and port number;

[0080] The test function instruction control module is used to shield part of the communication line during the debugging process by using the function interaction buttons to test specific instructions; the function interaction buttons include but are not limited to: a start button, a pause button and a stop button;

[0081] The data monitoring and measuring module is used to convert bus frame data into readable data through the bus signal real-time monitoring interface, and to observe the function operation status in real time.

[0082] The virtual controller model communicates with the signal closed-loop transmission model through the Ethernet medium and follows the 100Base-TX specification. Therefore, the x86 architecture host machine based on the development is equipped with a standard Ethernet physical interface and supports TCP / IP protocol and UDP communication protocol.

[0083] In an exemplary embodiment, the virtual controller model will run intelligent driving domain related functions and need to call GPU resources. Therefore, the x86 architecture host machine based on the development is equipped with a GPU performance graphics card that meets the GPU performance required for conventional graphical simulation, and the performance should be no less than NVIDIA GEFORCE RTX 3080 series graphics card

[0084] Based on the same inventive concept, the embodiment of the present application also provides a vehicle-mounted controller and communication virtualization method for implementing the vehicle-mounted controller and communication virtualization system involved above. The implementation scheme for solving the problem provided by the method is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more vehicle-mounted controller and communication virtualization method embodiments provided below can refer to the above limitations on the vehicle-mounted controller and communication virtualization system, and will not be repeated here.

[0085] In an exemplary embodiment, Figure 5 As shown, a vehicle controller and a communication virtualization method are provided, including:

[0086] S501, install and set dependencies on the host machine;

[0087] S501 specifically includes:

[0088] For a new host environment, install the dependency packages and install the toolchain to the / opt / directory to complete the setup.

[0089] S502, obtain the ARM Cortex-A55 core to implement the construction of the intelligent driving domain virtual controller model SDK;

[0090] S502 specifically includes:

[0091] Get the ARM Cortex-A55 core and Linux kernel source files, place them in the main / linux / path, and run . / build.sh to build the Intelligent Driving Domain Virtual Controller SDK.

[0092] S503, obtain the ARM Cortex-R5 core to implement chassis domain virtual controller model SDK construction;

[0093] S503 specifically includes:

[0094] Get the ARM Cortex-R5 core and FreeRTOS kernel source files, place them in the main / RTOS / path, and run . / build.sh to build the chassis domain virtual controller SDK.

[0095] S504, specify the model of the simulated network card and customize the network communication address;

[0096] S504 specifically includes:

[0097] Use the qemu-system-arm-net nic,model=e1000-net user 192.168.76.0 command to implement it, where model=e1000 is the model of the specified simulated network card, selected according to the host machine, and -net user192.168.76.0 is the custom network communication address.

[0098] S505, host machine memory virtualization is enabled and virtual bus communication function is turned on;

[0099] S505 specifically includes:

[0100] Run make-C build / shm_test to enable host memory virtualization, and run make-Cbuild / freertos_r5f.elf to enable the virtual bus communication function.

[0101] S506, running the virtual controller model and the corresponding communication port;

[0102] S506 specifically includes:

[0103] Execute sudo. / scripts / run.sh -r 0 to run the intelligent driving domain virtual controller model and the corresponding communication port;

[0104] Run sudo . / scripts / run.sh -r 1 to run the chassis domain virtual controller model and the corresponding communication port.

[0105] S507, adopting a virtual communication bus model, configuring a communication address, and starting a signal closed-loop transmission model.

[0106] S507 specifically includes:

[0107] In the signal closed-loop transmission model in Simulink, enable the CAN communication module, configure the communication address, and start running the signal closed-loop transmission model.

[0108] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0109] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A vehicle controller and communication virtualization system, characterized in that: The vehicle controller and communication virtualization system is based on an x86 architecture computer as a host machine and is developed under the QEMU / KVM virtual machine framework; the vehicle controller and communication virtualization system includes: a virtual controller underlying model, a virtual communication bus model and a signal closed-loop transmission model; the virtual controller underlying model and the virtual communication bus model constitute a virtual controller model; The virtual controller bottom model is used to simulate the actual vehicle controller using virtualization technology on an x86 architecture computer, develop a layered decoupled virtualized controller based on virtualization technology, and develop the host hardware, controller kernel, simulation system and application verification part in layers; The virtual communication bus model is used to simulate bus signals using PCI and system bus based on the underlying model of the virtual controller, and is carried on Ethernet through a conversion protocol in comparison with the actual on-board controller bus port; The signal closed-loop transmission model is used to be built using the Simulink tool to perform bidirectional conversion between the controller bus signal and the external data signal.

2. The vehicle controller and communication virtualization system according to claim 1, characterized in that: The virtual controller bottom layer model specifically includes: CPU virtual model, memory virtual model, and kernel and system virtual model; The CPU virtual model is used to add a client mode to virtualize the host CPU; corresponding to the VMX non-root mode when the host CPU is running, a loop process is executed to map the virtual machine including the virtual controller to the host CPU; The memory virtual model is used to isolate the physical address of the virtual machine by adopting an extended page table mechanism, and to convert the host machine virtual address into the host machine physical address to access the physical memory through the memory management unit, so as to realize memory virtualization; The kernel and system virtual model is used to embed the kernel file into the virtual machine QEMU process, and use the u-boot boot item to mount the system in the virtualized kernel to form a complete virtual controller operating environment.

3. The vehicle controller and communication virtualization system according to claim 2, characterized in that: In the memory virtual model, the memory_region_init() function is used to initialize the storage area including the internal small area; the memory_region_add_subregion() function is used to divide the storage interval according to the offset address in the total storage area; and the memory_region_init_io() function is used to divide the memory area into the I / O operation.

4. The vehicle controller and communication virtualization system according to claim 1, characterized in that: The signal closed-loop transmission model includes: a virtual controller signal transceiver model, a function control detection model and a simulation scene signal transceiver model; The virtual controller signal transceiver model is used to transmit data through a custom I / O signal module toolbox; The function control detection model is used to configure I / O port parameters, shield part of the communication line during debugging to test specific instructions, and observe the function operation status; The simulation scenario signal transceiver model is used to receive and send data signals required for vehicle function testing; the data signals required for vehicle function testing include: vehicle status, vehicle control, radar data and camera data.

5. The vehicle controller and communication virtualization system according to claim 4, characterized in that: The virtual controller signal transceiver model transmits data types including: AN / CAN FD, LIN, ADC, DIO, PWM, video stream, and LiDAR.

6. The vehicle controller and communication virtualization system according to claim 4, characterized in that: The functional control detection model includes: an I / O port parameter configuration module, a test function instruction control module and a data monitoring and measurement module; The I / O port parameter configuration module is used to select property parameters through the Mask interface to configure the I / O port parameters; the property parameters include: communication type, communication address, port IP and port number; The test function instruction control module is used to shield part of the communication line during the debugging process by using the function interaction buttons to test specific instructions; the function interaction buttons include: a start button, a pause button and a stop button; The data monitoring and measuring module is used to convert bus frame data into readable data through the bus signal real-time monitoring interface, and to observe the function operation status in real time.

7. The vehicle controller and communication virtualization system according to claim 1, characterized in that: The virtual controller model communicates with the signal closed-loop transmission model through the Ethernet medium and follows the 100Base-TX specification.

8. A vehicle controller and communication virtualization method, applied to the vehicle controller and communication virtualization system according to any one of claims 1 to 7, characterized in that: The vehicle-mounted controller and communication virtualization method include: Install dependencies and set up the host machine; Obtain the ARM Cortex-A55 core to implement the construction of the intelligent driving domain virtual controller model SDK; Obtain the ARM Cortex-R5 core to implement the chassis domain virtual controller model SDK construction; Specify the model of simulated network card and customize the network communication address; The host memory virtualization is enabled and the virtual bus communication function is turned on; Run the virtual controller model and corresponding communication port; A virtual communication bus model is adopted, and the communication address is configured to start the signal closed-loop transmission model.

9. The vehicle controller and communication virtualization method according to claim 8, characterized in that: The specified simulated network card model and customized network communication address specifically include: Use the qemu-system-arm-net nic,model=e1000-net user 192.168.76.0 command to implement it, where model=e1000 is the model of the specified simulated network card, selected according to the host machine, and -net user192.168.76.0 is the custom network communication address.

10. The vehicle controller and communication virtualization method according to claim 8, characterized in that: The running virtual controller model and the corresponding communication port specifically include: Execute sudo. / scripts / run.sh -r 0 to run the intelligent driving domain virtual controller model and the corresponding communication port; Run sudo . / scripts / run.sh -r 1 to run the chassis domain virtual controller model and the corresponding communication port.

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