E2E processing method for signal fusion in multiple modes, domain controller and storage medium

Abstract

The embodiment of the invention discloses an E2E processing method for signal fusion in multiple modes, a domain controller and a storage medium, and relates to the technical field of vehicle signal communication processing. Comprising the following steps: acquiring IPDU original signal data in an IPDU buffer area in a communication layer module, and storing the IPDU original signal data in a local variable; judging whether signal data fusion processing needs to be carried out or not; and if yes, performing fusion processing on the IPDU original signal data in the IPDU buffer area and the to-be-fused IPDU signal data to obtain to-be-packaged signal data. According to the method, IPDU original signal data is acquired at a communication layer for signal fusion processing, and decoupling with RTE interface configuration is carried out, so that the problem that in the prior art, E2E packaging of signals is completed in a periodic task, and due to the influence of task scheduling, an E2E Rolling Counter can not carry out accumulation strictly according to a specified step number accidentally is solved; and conversion needs to be completed one by one according to coefficients and offsets of different signals in the serialization process, the universality is low, the error-prone performance is high, and the maintenance cost is high.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle signal communication processing, and in particular to an E2E processing method, a domain controller and a storage medium for signal fusion in multiple modes. Background Art

[0002] As the current trend of increasingly complex vehicle electronic and electrical architectures, the various electronic control unit (ECU) modules inside the vehicle need to frequently interact with each other to achieve a variety of vehicle functions such as power transmission control, body stability adjustment, and intelligent cockpit function response. In the process of signal communication interaction, the issue of signal communication security has become a key issue that cannot be underestimated in the field of automotive electronics. To meet this challenge, industry standard organizations such as Autosar have actively explored and defined a communication protection mechanism specifically for the end-to-end (E2E) communication link between ECUs, namely E2E, which is mainly used to detect and verify various communication signal security risks that may occur during signal transmission, such as information duplication, information loss, information delay, disguise, impersonation, etc., thereby ensuring the reliability of vehicle signal transmission.

[0003] See also Figure 1 and Figure 1a In the related technologies, there are some limitations in signal acquisition in the implementation process of E2E communication security. Specifically, the E2E implementation mechanism at the sending end, because E2E acts on serialized data and is encapsulated in signal groups, the current mainstream implementation scheme is to read the signal through RTE at the SWC level, and then convert the read signal to meet the serialization, and then call the E2E library function to complete the protection encapsulation of the signal, and finally call the RTE interface to send the protected signal to the lower layer. This scheme usually completes the E2E encapsulation of the signal in periodic tasks. Affected by task scheduling, there will be occasional problems that the E2E counter (Rolling Counter) cannot be accumulated strictly according to the specified number of steps, and the serialization process needs to complete the conversion one by one according to the coefficients and offsets of different signals. It has low versatility and high error-proneness, which increases the maintenance cost. In addition, the current implementation schemes are all signal outbound in a single mode, and do not support the implementation of shared signals in multiple modes. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides an E2E processing method, a domain controller and a storage medium for signal fusion in multiple modes, so as to solve the problem that in the prior art, in the E2E encapsulation of periodic task completion signals, due to the influence of task scheduling, the E2E Rolling Counter may occasionally fail to accumulate strictly according to the specified number of steps, and the serialization process needs to complete the conversion one by one according to the coefficients and offsets of different signals, resulting in low versatility, high error proneness and high maintenance cost.

[0005] To achieve the above-mentioned purpose of the invention, according to the first aspect of an embodiment of the present invention, there is provided an E2E processing method for signal fusion in multiple modes, comprising: obtaining the IPDU original signal data in the IPDU buffer in the communication layer module and storing it in a local variable; judging whether signal data fusion processing is required according to a preset data fusion condition; if so, calling a preset fusion algorithm based on data structure information, fusing the IPDU original signal data in the IPDU buffer and the IPDU signal data to be fused, and obtaining the signal data to be encapsulated.

[0006] According to one embodiment of the present invention, calling a preset fusion algorithm based on data structure information to fuse the IPDU original signal data and the IPDU signal data to be fused in the IPDU buffer includes: defining parameters in the data structure information, the parameters including: message frame length, the total number of signals to be fused, the start bit of each signal and the signal length; based on the defined signal start bit and length, performing a mask matching operation on the IPDU original signal data and the IPDU signal data to be fused, generating mask information of the original signal data and the IPDU signal data to be fused at the bit positions respectively; performing a bitwise AND operation on the IPDU original signal data and the signal data to be fused according to the mask information, filtering out their respective valid signal parts; performing a bitwise OR operation on the valid signal part in the filtered IPDU original signal data and the valid signal part in the signal data to be fused, merging the values ​​of the corresponding bits, and obtaining the fused signal data to be encapsulated.

[0007] According to one embodiment of the present invention, after obtaining the signal data to be packaged, the method further includes: judging whether the signal to be packaged meets the implementation conditions for entering the E2E processing link according to preset E2E implementation conditions; if so, classifying and managing the signal to be packaged according to the signal grouping hierarchy structure, parsing the signal to be packaged to obtain the signal data value participating in the E2E operation in the serialized data.

[0008] According to one embodiment of the present invention, the signal to be encapsulated is classified and managed according to the signal grouping hierarchy structure, and the signal to be encapsulated is parsed to obtain the signal data value participating in the E2E operation in the serialized data, including: the signal to be encapsulated is classified and managed layer by layer according to the signal frame, signal group, and specific signal value, wherein the signal frame is the highest level signal set, each signal frame contains several signal groups, and each signal group contains multiple specific signals; the signal to be encapsulated and the serial number corresponding to the signal to be encapsulated in the signal frame are passed into a preset parsing algorithm; the corresponding signal group and specific signal value are located according to the serial number, and then the value of the corresponding field is obtained from the signal to be encapsulated according to the signal start bit; the value of the corresponding field is assigned to the signal variable in the corresponding signal data to be encapsulated, so as to perform subsequent E2E signal data encapsulation.

[0009] According to one embodiment of the present invention, the preset data fusion condition is configured to be set according to the vehicle operation mode or the actual situation of the project, and is used to determine whether to perform a signal fusion operation.

[0010] According to an embodiment of the present invention, the preset E2E implementation condition is configured to be set according to the vehicle operation mode and / or the actual operation environment.

[0011] According to one embodiment of the present invention, after parsing the signal to be encapsulated to obtain the signal data value participating in the E2E operation in the serialized data, and completing the E2E encapsulation protection of the signal to be encapsulated, the method also includes: updating the signal data value to the signal variable defined by the data management library; calling the IPDU data packaging algorithm to update the value of the signal variable to the corresponding bit of the IPDU original data; and continuing to process the updated IPDU original data through the communication layer callback mechanism to prepare for the next E2E data encapsulation protection.

[0012] According to one embodiment of the present invention, the IPDU data packing algorithm is the inverse operation of the IPDU parsing algorithm, and is configured to perform packing operations based on the configured signal start bit, signal length and byte order information, and update the signal data value to the corresponding bit position of the IPDU original data.

[0013] According to a second aspect of an embodiment of the present invention, a domain controller is provided, configured to execute any of the E2E processing methods for multi-mode signal fusion described in the first aspect.

[0014] According to a third aspect of an embodiment of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the E2E processing method for multi-mode signal fusion as described in any one of the first aspects above.

[0015] The E2E processing method, domain controller, electronic device and storage medium for signal fusion in multiple modes provided by the embodiments of the present invention acquire data at the COM layer and are decoupled from the RTE. Signal acquisition and processing are performed directly at the COM layer without the need for complex scheduling of the RTE. Therefore, signal acquisition, processing (including E2E related operations) and outbound transmission can be performed at the same level in a more controllable manner, thereby avoiding the timing uncertainty caused by RTE asynchronous operations, and solving the problem that when there is a task scheduling deviation, the counter of the E2E signal that is prone to occasional occurrence cannot be accumulated strictly according to the specified number of steps, and there is a possibility of a difference of positive or negative one cycle, thereby meeting the stability requirement of the counter strictly increasing.

[0016] In addition, by directly obtaining the signal data in the IPDU buffer at the COM layer, RTE is no longer relied on to obtain the signal. Since the data format in the IPDU buffer is closer to the data format actually collected by the underlying hardware, it is more compatible with the serialization format required for E2E processing, reducing the complex conversion process from physical quantity signals to serialized signals, and there is no need to perform manual conversion based on the communication matrix. In this way, whether it is a system upgrade or a signal configuration change, there is no need to pay too much attention to the complex conversion related to RTE, which greatly reduces the update adaptation cost and improves the maintainability of the system. At the same time, since the manual conversion steps are reduced, the risk of signal processing errors caused by manual calculation errors is also reduced, and the accuracy and reliability of signal processing are improved. As a result, the problem that the E2E encapsulation of the periodic task completion signal in the prior art is affected by task scheduling, and the E2E Rolling Counter cannot be accumulated strictly according to the specified number of steps occasionally, and the serialization process needs to complete the conversion one by one according to the coefficients and offsets of different signals, which has low versatility, high error proneness, and high maintenance cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 This is a typical E2E implementation process diagram of an embodiment; Figure 1a for Figure 1 Schematic diagram of existing processing flow related to the signal acquisition step in Figure 2 A schematic flow chart of an E2E processing method for signal fusion in multiple modes provided by an embodiment of the present invention; Figure 3 A schematic flow chart of an E2E processing method for signal fusion in multiple modes provided by an embodiment of the present invention; Figures 4 to 8 A schematic diagram of an exemplary signal fusion process in an E2E processing method for signal fusion in multiple modes provided by an embodiment of the present invention; Fig. 9 A schematic diagram of a flow chart of data analysis of a signal to be packaged in an E2E processing method for signal fusion in multiple modes provided by an embodiment of the present invention; Fig.10 A schematic diagram of the structure of an embodiment of an electronic device provided by the present invention; Fig.11 A schematic block diagram of the structure of a vehicle domain control system that instantiates the E2E processing method for multi-mode signal fusion provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0019] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0020] It should be clear that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] In order to help understand the technical solution provided by the embodiment of the present application, the following is combined with the figure Figure 1 , 1a , Figure 2 and Figure 5 , each embodiment of the present application is described in detail as follows: See also Figure 1 In the current vehicle electronic system, end-to-end (E2E) data protection is crucial to ensure the reliability of vehicle signal transmission. The current E2E implementation process mainly includes the following steps: (1) Obtain the values ​​of each signal in the signal group to be protected and complete data serialization; the protection object of the E2E library function is the serialized signal encapsulation data. (2) Complete the encapsulation of signal data according to the configuration file (Profile) definition, such as the sorting distribution of signals such as checksum. (3) Define the configuration file parameters of the signal group, such as E2E ID, counter setting error (Counter Offset), data length, etc. (4) Call the E2E library function (E2E Library) to implement it with the content defined in steps (2) and (3). (5) Update the checksum and rolling counter values ​​calculated in step (4) and send them out together with other signals.

[0022] In the prior art, the above signal acquisition process and dependency have certain limitations. Referring to Figure 1a, the current mainstream solution is to implement the E2E encapsulation implementation in the upper-level SWC, and then send the encapsulated signal out through the RTE interface. At this time, the RTE actually only updates the signal value and sets the outbound request. The actual implementation of the outbound operation is performed in the Com main function, that is, the update and outbound of the signal value are asynchronous operations. When there is a task scheduling deviation, the Rolling Counter of the sporadic E2E signal cannot be accumulated strictly according to the specified number of steps, and there may be a difference of positive or negative one cycle. In some strict scenarios, the strict increment of the Rolling Counter cannot be met.

[0023] Specifically, in the existing implementation scheme, the source of signal value depends on RTE, and the signal of RTE is a physical quantity signal from the upper-layer algorithm. It needs to be manually calculated and converted into the serialized value of the matching signal group according to the coefficients and offsets defined by the signal communication matrix, and each signal needs to be converted separately, which has high update adaptation and maintenance costs. On the one hand, the existing scheme depends on the interface configuration of RTE, and on the other hand, it needs to perform manual conversion of signal serialization. The implementation method and location of RTE configuration and manual operation vary from project to project and from person to person. The degree of modularization is poor, and the versatility and reusability are poor. In addition, it only focuses on the signal obtained by RTE, without corresponding mode management, and focuses on the E2E encapsulation protection of the signal outgoing in a single mode. When it comes to multi-mode shared signals, especially multi-mode signals in the same signal group, such as mid-to-high-level driving and parking integrated domain controllers, the signals will be updated in different driving and parking modes. When performing E2E encapsulation protection and finally outgoing, the existing scheme is difficult to achieve effective fusion of signal conflicts and obtain the actual desired signal value.

[0024] Therefore, see Figure 2 As shown, the E2E processing method for signal fusion in multiple modes provided in the embodiment of the present application can be deployed in the electronic control system of the vehicle to solve the problems of efficient processing and reliable transmission of multi-source signals during vehicle operation, and is particularly suitable for the driving and parking signal fusion scenarios of mid- and high-end vehicle domain controllers.

[0025] See also Figure 2 and Figure 3 In some embodiments, the data processing method includes: S110, obtaining IPDU original signal data stored in an interactive layer protocol data unit buffer (IPDU Buffer) in a communication layer module, and storing the data in a local variable.

[0026] The local variable is a variable defined in the Com callback function of the communication layer, which is used to temporarily store the signal data extracted from the IPDUBuffer for use in subsequent steps. By directly locating and obtaining the original signal data of the IPDU in the communication layer, the delay and configuration dependency problems that may be caused by obtaining the signal through the intermediate layer, such as the runtime environment RTE, are avoided. For example, signal data from various vehicle sensors, such as millimeter-wave radars, cameras, wheel speed sensors, etc.; and signal data from the electronic control unit (ECU) can be quickly captured from the communication layer through the signal data acquisition method provided in the embodiment of the present application, providing the most timely and accurate data basis for subsequent E2E data encapsulation.

[0027] S120: Determine whether signal data fusion processing is required according to preset data fusion conditions.

[0028] The preset data fusion condition can be set according to the actual needs of the project. In some embodiments, the preset data fusion condition is configured to be set according to the vehicle operation mode or the actual situation of the project, and is used to determine whether to perform a signal fusion operation.

[0029] In this embodiment, intelligent judgment is made based on preset data fusion conditions, which can be set closely around the real-time operating status of the vehicle, the working status of the signal source, and the overall configuration project requirements of the system. Taking driving and parking scenarios as an example, when the vehicle is in a stable cruising mode on the highway, according to the configuration requirements, focus on integrating signals closely related to driving safety and comfort, such as accurate vehicle speed, reasonable distance from surrounding vehicles, good road conditions, etc. At this time, if these key signal sources are working normally and stably output valid data, it will be determined that the data fusion conditions are met; on the contrary, if the vehicle is in a simple test mode of the repair shop, such as performing a single sensor function test, or the system resources become tight due to running multiple high-energy consumption functions at the same time, and these signal fusions are not critical requirements at the moment, or an important signal source fails, such as a key radar sensor failure that causes unreliable data, etc., then it is determined that the data fusion conditions are not met.

[0030] When the vehicle enters the parking lot and prepares to park, the parking-related systems are activated. At this time, the focus is on signals closely related to parking operations, such as parking space monitoring sensor signals, vehicle and surrounding obstacle distance signals, vehicle steering angle signals, etc. If these parking-related signal sources work normally and provide valid data, and the system resources are sufficient, and the configuration requires signal fusion, for example, when the automatic parking assistance function is enabled, the system determines that the signal data fusion conditions are met; if the vehicle is in a non-parking operation state, such as driving at a low speed in the parking lot but not starting the parking program, or the parking system fails and some signals are unreliable, or the system resources are tight and parking signal fusion is not a key requirement, then it is determined that the signal data fusion conditions are not met. By setting the above signal fusion judgment conditions to achieve a flexible judgment mechanism, it can effectively avoid unnecessary waste of computing resources, ensure that the system can achieve reasonable allocation of resources under various operating conditions, and ensure efficient and stable operation of the system.

[0031] S130: If yes, calling a preset fusion algorithm based on the data structure information, fusing the IPDU original signal data in the IPDU buffer and the IPDU signal data to be fused to obtain the signal data to be encapsulated.

[0032] In this embodiment, by acquiring data at the COM layer and decoupling from the RTE, it means that signal acquisition and processing are performed directly at the COM layer without the need for complex scheduling of the RTE. As a result, signal acquisition, processing (including E2E-related operations) and outbound transmission can be performed at the same level in a more controllable manner, avoiding the timing uncertainty caused by RTE asynchronous operations and solving the problem that when there is a task scheduling deviation, the Rolling Counter that is prone to occasional E2E signals cannot be accumulated strictly according to the specified number of steps, and there may be a difference of plus or minus one cycle. For example, when a vehicle sensor generates a new signal, such as a parking signal, the COM layer directly acquires and processes it, and then immediately performs E2E encapsulation and outbound transmission. The entire process is closely connected in timing, and no additional scheduling delay or interference will be generated due to the intervention of the RTE, thereby ensuring that the Rolling Counter can be accumulated strictly according to the specified number of steps and meet the strict increasing stability requirements.

[0033] In addition, since the existing solution relies on RTE to obtain signals, RTE provides physical quantity signals of the upper-level algorithm. These signals need to be converted into serialized signals suitable for E2E processing, which requires manual calculation based on the coefficients and offsets defined by the communication matrix. Since each signal needs to be converted separately and the communication matrix is ​​relatively fixed, when the vehicle system is upgraded, new sensors are added, or the signal configuration is changed, these coefficients and offsets need to be recalculated and adjusted, resulting in a significant increase in update adaptation and maintenance costs.

[0034] In this embodiment, by directly acquiring the signal data in the IPDU buffer at the COM layer, the signal acquisition no longer relies on RTE. Since the data format in the IPDU buffer is closer to the data format actually collected by the underlying hardware, it is more compatible with the serialization format required for E2E processing, reducing the complex conversion process from physical quantity signals to serialized signals. For example, after the raw signal data from the vehicle sensor is acquired in a relatively original form at the COM layer, it can be directly parsed and processed according to the needs of E2E processing without manual conversion based on the communication matrix. In this way, whether it is a system upgrade or a signal configuration change, there is no need to pay too much attention to the complex conversion related to RTE, which greatly reduces the update adaptation cost and improves the maintainability of the system. At the same time, since the manual conversion steps are reduced, the risk of signal processing errors caused by manual calculation errors is also reduced, and the accuracy and reliability of signal processing are improved.

[0035] The signal data to be encapsulated is essentially still IPDU data, but it is fused IPDU data. Specifically, if it is determined that the signal data fusion conditions are met, the preset fusion algorithm is called based on the fused data information (data structure), in which the fused data information encapsulates multiple key parameters in the form of a structure, such as the message frame length (DLC), the total number of signals to be fused, the start bit of each signal, and the signal length. These parameters provide clear guidance for the system to accurately locate and process each signal in the IPDU buffer. For example, when processing signals related to the collaborative work of the vehicle power system and the chassis system, through these key parameters, the system can accurately extract IPDU raw data fragments such as engine torque signals, throttle opening signals, wheel speed signals, and suspension travel signals from the IPDU buffer, and then use the preset fusion algorithm to deeply fuse the IPDU raw signal data in the IPDU buffer and the IPDU signal data to be fused, and finally obtain the signal data to be encapsulated. Through this signal data fusion method, multi-source signal information can be organically integrated, so that the generated signal data to be packaged can more comprehensively and accurately reflect the actual operating status of the vehicle, and provide more valuable data support for subsequent key processing links, such as E2E protection and reliable signal transmission. In some embodiments, the calling of a preset fusion algorithm based on data structure information to fuse the IPDU original signal data in the IPDU buffer and the IPDU signal data to be fused includes: The parameters in the data structure information are defined, and the parameters include: message frame length, total number of signals to be fused, start bit of each signal and signal length.

[0036] See also Figure 4Specifically, assuming that SigC1 and SigD1 are signals to be fused, and other signal data use data before fusion, after the startup parameter definition, the core parameters in the data structure information are defined, mainly including: message frame length DLC: used to complete the traversal of the entire frame message bit by bit; total number of signals to be fused: used to complete the traversal of all signals to be fused; signal start bit: used to locate the position of the signal from the entire frame message; and signal length: used to determine all bits to be processed.

[0037] Among them, when processing signals that are closely related to the vehicle's intelligent cockpit and vehicle dynamic control, the message frame length needs to be strictly measured in accordance with the automotive-grade communication protocol specifications to ensure the integrity and accuracy of the data during transmission. For the total number of signals to be fused, the number of signals that actually need to be fused is accurately counted through comprehensive scanning and accurate identification of signal sources closely related to the current processing task, without signal omissions or erroneous additions. The start bit and signal length of each signal can be determined by in-depth analysis of the signal transmission protocol and combined with a detailed analysis of a large amount of actual signal data, building a precise positioning information cornerstone for subsequent mask matching operations.

[0038] Based on the defined signal start bit and length, a mask matching operation is performed on the IPDU original signal data and the IPDU signal data to be fused, and mask information of the original signal data and the IPDU signal data to be fused at the bit positions are generated respectively.

[0039] Specifically, a mask matching operation is performed on the IPDU original signal data and the IPDU signal data to be fused. Figure 4 and Figure 5 , according to the defined structure information signal start bit and signal length, a mask matching operation is performed, that is, the mask corresponding to the bit position occupied by the signal to be fused in the message frame is 1, and the mask of the bit that does not need to be fused is 0, so that after the mask operation, the original signal data and the IPDU signal data to be fused can clearly highlight the key bit information closely related to the IPDU signal, and generate their respective mask information at the bit position, which is mainly used for subsequent screening.

[0040] According to the mask information, a bitwise AND operation is performed on the IPDU original signal data and the signal data to be fused to filter out their respective valid signal parts.

[0041] Specifically, according to the generated mask information, a bitwise AND operation is performed on the IPDU original signal data and the signal data to be fused. Figure 6 According to the generated mask information, the IPDU data before fusion is made to retain only the signal corresponding to the bit where the mask is set to 0 through bitwise AND operation, and the other positions are 0; see Figure 7 For the signal data to be fused, according to the mask information, the bitwise AND operation is performed to keep only the signal corresponding to the bit where the mask is set to 1, and the other positions are 0. This achieves accurate screening of the respective valid signal parts.

[0042] A bitwise OR operation is performed on the valid signal part in the filtered IPDU original signal data and the valid signal part in the signal data to be fused, and the values ​​of the corresponding bits are merged to obtain the fused signal data to be encapsulated.

[0043] See also Figure 8 In this embodiment, a bitwise OR operation is performed on the valid signal part in the filtered IPDU original signal data and the valid signal part in the signal data to be fused to obtain the final fused signal for further processing or as a signal to be encapsulated.

[0044] Please continue to see Figure 3 After obtaining the signal data to be packaged, the method enters the judgment and preparation stage of the E2E processing link. In some embodiments, after obtaining the signal data to be packaged, the method further includes: judging whether the signal to be packaged meets the implementation conditions for entering the E2E processing link according to the preset E2E implementation conditions.

[0045] Among them, the preset E2E implementation conditions are configured to be set according to the vehicle operation mode and / or the actual operation environment. Specifically, the system comprehensively evaluates the current operation state and the actual operation environment of the vehicle according to the preset E2E implementation conditions. For example, during the driving process of the car, when the vehicle is in normal urban road driving and is performing key safety control operations, such as automatic emergency braking, the system resource status at this time is comprehensively considered, such as controller utilization, memory occupancy, etc., and at the same time, it is ensured that the strict requirements of relevant safety regulations for such data processing, such as data encryption standards and transmission reliability specifications, are met. The E2E implementation conditions are determined to be met; on the contrary, if the vehicle is in a parking state and only the in-vehicle entertainment system is turned on, such as playing music or video, the system software and hardware resources are relatively sufficient at this time. If the importance of the data in this scenario is low, or it is not required by relevant safety regulations or industry standards, it can be determined that the E2E implementation conditions are not met to avoid unnecessary resource consumption and complication of the processing flow.

[0046] If it is determined that the E2E implementation conditions are met, the signal to be packaged is classified and managed according to the signal grouping hierarchy structure, and the signal to be packaged is parsed to obtain the signal data value participating in the E2E operation in the serialized data.

[0047] See also Fig. 9In some embodiments, the classifying and managing the signal to be packaged according to the signal grouping hierarchy structure, and parsing the signal to be packaged to obtain the signal data value participating in the E2E operation in the serialized data includes: The signal to be encapsulated is classified and managed layer by layer according to signal frame, signal group and specific signal value, wherein the signal frame is the highest level signal set, each signal frame contains several signal groups, and each signal group contains multiple specific signals; the signal to be encapsulated and the serial number corresponding to the signal to be encapsulated in the signal frame are passed into the preset parsing algorithm; the corresponding signal group and specific signal value are located according to the serial number, and then the value of the corresponding field is obtained from the signal to be encapsulated according to the signal start bit; the value of the corresponding field is assigned to the signal variable in the corresponding signal data to be encapsulated, so as to perform subsequent E2E signal data encapsulation.

[0048] In this embodiment, all the signals to be packaged that need to perform E2E operations are finely classified and managed according to the signal grouping hierarchical structure. Taking the vehicle automatic driving control system as an example, the signals to be packaged are systematically classified and managed layer by layer according to signal frames, signal groups, and specific signal values. Among them, the signal frame is the highest level signal set, each signal frame contains several signal groups, and each signal group contains multiple specific signals. Exemplarily, the hierarchical management includes signal frame management, specifically signal frame = {signal frame 1, signal frame 2, ... signal frame n}; signal group management, only the signal groups to be implemented in the above signal frames are managed, signal frame 1 = signal group list = {signal group 1, signal group 2, ... signal group m}; signal management: signal group 1 = {total number of E2E signals involved y, signal list}, signal list = {{signal 1, start bit, signal length, big and small ends, data type, data filling flag}, ... {signal y, start bit, signal length, big and small ends, data type, data filling flag}. When it comes to adding or deleting E2E signals, users only need to complete the data definition according to the management format. When calling the signal parsing algorithm, they only need to pass in the signal frame number. The association processing from the signal frame to the signal level is completed within the algorithm, which can improve the convenience of users using the algorithm. For example, a signal frame may cover the autonomous driving perception module, including the camera image signal group, the millimeter wave radar signal group, etc., the decision module, including the path planning signal group, the speed control signal group, etc., and the execution module, including the relevant signal data of the motor drive signal group, the steering control signal group, etc. Subsequently, the signal to be packaged and the serial number corresponding to the signal to be packaged in the signal frame are passed to the preset parsing algorithm, and the corresponding signal group and specific signal value are accurately located according to the serial number, and then the value of the corresponding field is obtained from the signal to be packaged according to the signal start bit, so as to ensure that the signal data of the subsequent E2E package is complete and accurate, and provide a solid data foundation for the subsequent E2E signal package, and ensure the accuracy and reliability of E2E processing.

[0049] In addition, when a cross-byte signal is involved, after obtaining the value of the corresponding field from the signal to be encapsulated according to the signal start bit, it also includes: completing signal byte order adjustment according to the set byte order information.

[0050] Specifically, in vehicle electronic systems, signal data may involve byte order issues during transmission and storage. Byte order refers to the order in which multi-byte data is stored in memory. Different hardware platforms or communication protocols may use different byte orders, such as big endian (high-order bytes are stored at low addresses) and little endian (low-order bytes are stored at low addresses). When signal data is stored in IPDU, if there is a cross-byte signal, that is, the representation of a signal spans multiple bytes, in order to ensure that the signal can be correctly parsed and used between different system components, it is necessary to adjust the byte order of the signal according to the pre-set byte order information. For example, a signal representing vehicle speed may have data stored in two consecutive bytes of IPDU. If the byte order specified by the system is inconsistent with the byte order actually stored, when parsing the signal, it is necessary to adjust the order of the two bytes according to the set byte order information to make it consistent with the expected byte order, so that the correct signal value can be accurately obtained and signal parsing errors caused by byte order errors can be avoided.

[0051] Look back again Figure 1 For step (5), the existing outbound mechanism generally completes the E2E encapsulation protection, calls the RTE signal interface to complete the update of the signal data, and completes the outbound transmission of the latest signal data during the actual outbound transmission. This solution still depends on the configuration of the RTE.

[0052] In the embodiments of the present application, the outbound step is improved. In some embodiments, after parsing the signal to be encapsulated to obtain the signal data value participating in the E2E operation in the serialized data, after completing the E2E encapsulation protection of the signal to be encapsulated, the method also includes: updating the signal data value to the signal variable defined by the data management library; calling the IPDU data packaging algorithm to update the value of the signal variable to the corresponding bit of the IPDU original data; continuing to process the updated IPDU original data through the communication layer callback mechanism to prepare for the next E2E data encapsulation protection. By also processing the outbound signal in the communication layer module (COM) callback, the updated IPDU signal is outbound. In this way, all operations are encapsulated in the communication layer callback function, which does not rely on the runtime environment (RTE) and its upper-level configuration. Since it is free from the dependence on the RTE and its upper-level configuration, it avoids the abnormal outbound signal caused by RTE configuration changes or upper-level software problems, thereby ensuring the stability and reliability of the outbound signal.

[0053] In this embodiment, the signal data values ​​that have been E2E encapsulated and protected accurately are updated to the signal variables defined in the data management library. Taking the vehicle battery management system as an example, after completing the E2E encapsulation protection of battery voltage, current, temperature and other signals, these processed and accurate and reliable signal data values ​​are stored in the corresponding signal variables in the dedicated battery management data management library to ensure that the battery system can perform reasonable charge and discharge control and safety management based on the latest signal data.

[0054] Then, the IPDU data packaging algorithm is called to accurately update the value of the signal variable to the corresponding bit of the IPDU original data. In the vehicle automatic driving control system, according to the configured signal start bit, signal length and byte order information, the values ​​of signal variables such as radar distance data, vehicle steering instructions, speed control signals, etc. are filled into the corresponding positions of the IPDU original data to ensure the integrity and accuracy of the data during transmission.

[0055] In some embodiments, the IPDU data packing algorithm is the inverse operation of the IPDU parsing algorithm, and is configured to perform packing operations based on the configured signal start bit, signal length and byte order information, and update the signal data value to the corresponding bit position of the IPDU original data.

[0056] The signal transmission method provided in this embodiment transmits the updated IPDU signal through the callback processing of the communication layer module (COM). All operations are encapsulated in the communication layer callback function, and are independent of the runtime environment (RTE) and the configuration of the upper layer. Since the dependence on the RTE and its upper layer configuration is eliminated, the abnormal signal transmission caused by the change of the RTE configuration or the upper layer software problem is avoided, thereby ensuring the stability and reliability of the signal transmission, so that the signal interaction between the vehicle systems can be carried out efficiently and stably, improving the robustness of the entire vehicle electronic system, and helping to improve the maintainability and scalability of the signal transmission process, and facilitating the subsequent system upgrade and optimization.

[0057] By way of example, the following is a vehicle electronic system that uses the E2E processing method for signal fusion in multiple modes provided by an embodiment of the present application, and takes the preparation for entering parking mode as an example to describe the technical solution and its technical effects provided by the embodiment of the present application as follows: Fig.11 ,Take a vehicle domain control system as an example. The system includes TC397 chip and TDA4 chip, where the vehicle signal interaction and driving functions are deployed on the TC397 chip. When the vehicle is started, the communication layer module operates at the TC397 chip level and directly obtains the IPDU buffer from its corresponding hardware storage area. The IPDU buffer can contain signal data from various sensors, electronic control units, etc., and store it in local variables.

[0058] When the vehicle enters the parking lot and prepares to park, the vehicle starts the parking-related functions. At this time, multiple sensors on the vehicle start working, and the collected signal data is transmitted to the communication layer module (COM). In this process, since the communication layer module is at the TC397 chip level, it can directly obtain the original data of the IPDU buffer containing parking-related signal data from the corresponding hardware storage area and store it in the local variable. After obtaining the parking signal data, the system enters the E2E processing flow. Since the acquisition of data at the COM layer is decoupled from RTE, the signal processing and E2E-related operations are directly performed at the COM layer. For example, for the distance signal between the vehicle and the surrounding obstacles, when performing E2E protection, the COM layer can quickly determine whether it needs to be processed according to the preset E2E implementation conditions. At this time, the COM layer directly processes the distance signal data obtained from the IPDU buffer, including possible signal fusion (if there are other related signals that need to be fused) and other operations, and then performs E2E encapsulation. In the whole process, there will be no signal processing timing confusion due to the asynchronous operation characteristics of RTE, ensuring the accuracy and stability of E2E processing. In addition, in this process, because the signal is executed at the COM layer from acquisition to processing and then to external transmission, the Rolling Counter can accumulate strictly according to the specified number of steps with almost no additional interference factors, meeting the strict incremental stability requirements and ensuring parking safety.

[0059] In addition, since it does not rely on RTE to obtain signals, the signal data in the IPDU buffer is directly obtained at the COM layer, and its data format is closer to the format actually collected by the underlying hardware, and is more compatible with the serialization format required for E2E processing. In parking scenarios, for example, the image signal obtained by the camera, after its original data is obtained at the COM layer, can be directly parsed and processed according to the requirements of the E2E processing for image feature signals, without the need for complex manual conversion based on the communication matrix, which improves the accuracy of signal processing, enables the automatic parking process to run more reliably, accurately identify parking spaces, plan parking paths, and ultimately achieve safe and efficient automatic parking operations.

[0060] When there is a new vehicle system upgrade, for example, adding a new parking assistance function, it involves adding new sensor signals. In this case, since it does not rely on RTE to obtain signals, the system does not need to make a lot of modifications to the RTE-related signal conversion configuration, and only needs to perform simple adaptation at the COM layer, which has high versatility and low error-proneness, greatly reducing the update and adaptation costs. Embodiment 2

[0061] The present application also provides a domain controller in an embodiment, including: The signal acquisition unit is used to acquire the IPDU original signal data in the IPDU buffer in the communication layer module and store it in a local variable; A fusion judgment unit, used to judge whether signal data fusion processing is required according to preset data fusion conditions; The fusion processing unit is used to call a preset fusion algorithm based on the data structure information if it is determined that signal data fusion processing is required, and fuse the IPDU original signal data in the IPDU buffer and the IPDU signal data to be fused to obtain the signal data to be encapsulated.

[0062] In some embodiments, the fusion processing unit is specifically used to: Defining parameters in the data structure information, the parameters including: message frame length, total number of signals to be fused, start bit of each signal and signal length; Based on the defined signal start bit and length, a mask matching operation is performed on the IPDU original signal data and the IPDU signal data to be fused, and mask information of the original signal data and the IPDU signal data to be fused at the bit positions are generated respectively; According to the mask information, a bitwise AND operation is performed on the IPDU original signal data and the signal data to be fused to filter out their respective valid signal parts; A bitwise OR operation is performed on the valid signal part in the filtered IPDU original signal data and the valid signal part in the signal data to be fused, and the values ​​of the corresponding bits are merged to obtain the fused signal data to be encapsulated.

[0063] In some embodiments, after obtaining the signal data to be packaged, the device further comprises: an E2E implementation judgment unit, configured to judge whether the signal to be packaged meets the implementation condition of entering the E2E processing link according to the preset E2E implementation condition; The data parsing unit is used to classify and manage the signal to be packaged according to the signal grouping hierarchy structure if it is determined that the implementation conditions for entering the E2E processing link are met, and parse the signal to be packaged to obtain the signal data value participating in the E2E operation in the serialized data.

[0064] In some embodiments, the data parsing unit is specifically used to: Classify and manage the signals to be packaged layer by layer according to signal frames, signal groups, and specific signal values, wherein the signal frame is a signal set at the highest level, each signal frame contains several signal groups, and each signal group contains multiple specific signals; The signal to be packaged and the sequence number in the signal frame corresponding to the signal to be packaged are input into a preset parsing algorithm; Locating the corresponding signal group and specific signal value according to the sequence number, and then obtaining the value of the corresponding field from the signal to be packaged according to the signal start bit; The value of the corresponding field is assigned to the signal variable in the corresponding signal data to be encapsulated, so as to be used for performing subsequent E2E signal encapsulation.

[0065] In some embodiments, the preset data fusion condition is configured to be set according to the vehicle operation mode or the actual situation of the project, and is used to determine whether to perform a signal fusion operation.

[0066] In some embodiments, the preset E2E implementation conditions are configured to be set according to the vehicle operation mode and / or the actual operation environment.

[0067] In some embodiments, after parsing the signal to be packaged to obtain the signal data value participating in the E2E operation in the serialized data, and completing the E2E package protection for the signal to be packaged, the device further includes: updating the signal data value to a signal variable defined in a data management library; Call the IPDU data packaging algorithm to update the value of the signal variable to the corresponding bit of the IPDU original data; The updated IPDU original data continues to be processed through the communication layer callback mechanism to prepare for the next E2E data encapsulation protection.

[0068] In some embodiments, the IPDU data packing algorithm is the inverse operation of the IPDU parsing algorithm, and is configured to perform packing operations based on the configured signal start bit, signal length and byte order information, and update the signal data value to the corresponding bit position of the IPDU original data.

[0069] The implementation principle and technical effects of the signal data processing device of this embodiment are similar to those of the aforementioned method embodiments, which will not be described in detail here, and can be referenced to each other.

[0070] The present application also provides a domain controller in an embodiment, including: configured to execute the signal data processing method described in any of the above embodiments. The implementation principle and technical effect of the domain controller in this embodiment are similar to those of the above method embodiments, which will not be described in detail here, and can be referred to each other.

[0071] Fig.10 FIG. 1 is a schematic diagram of a structure of an electronic device of the present application, which can implement any method described in Embodiment 1 of the present invention. Fig.10As an optional embodiment, the electronic device may include: a housing 41, a processor 42, a memory 43, a circuit board 44 and a power supply circuit 45, wherein the circuit board 44 is placed inside the space enclosed by the housing 41, and the processor 42 and the memory 43 are arranged on the circuit board 44; the power supply circuit 45 is used to supply power to various circuits or devices of the electronic device; the memory 43 is used to store executable program codes; the processor 42 runs a program corresponding to the executable program code by reading the executable program code stored in the memory 43, so as to execute the E2E processing method for multi-mode signal fusion described in any of the aforementioned embodiments.

[0072] The specific execution process of the above steps by the processor 42 and the steps further executed by the processor 42 by running the executable program code can be found in the description of the first embodiment of the E2E processing method for signal fusion under multi-mode of the present invention, which will not be repeated here.

[0073] An embodiment of the present invention also provides a computer-readable storage medium, which stores one or more programs. The one or more programs can be executed by one or more processors to implement the E2E processing method for multi-mode signal fusion described in any of the aforementioned embodiments.

[0074] According to the above disclosure, the E2E processing method, domain control and storage medium for signal fusion in multiple modes provided in the embodiments of the present application acquire data at the COM layer and are decoupled from the RTE. Signal acquisition and processing are performed directly at the COM layer without the need for complex scheduling of the RTE. As a result, signal acquisition, processing (including E2E-related operations) and outbound transmission can be performed at the same level in a more controllable manner, avoiding the timing uncertainty caused by asynchronous operations of the RTE, and solving the problem that when there is a task scheduling deviation, the counter of the E2E signal that is prone to occasional occurrences cannot be accumulated strictly according to the specified number of steps, and there is a possibility of a difference of positive or negative one cycle, thereby meeting the stability requirement of the counter being strictly incremented.

[0075] In addition, by directly obtaining the signal data in the IPDU buffer at the COM layer, RTE is no longer relied on to obtain the signal. Since the data format in the IPDU buffer is closer to the data format actually collected by the underlying hardware, it is more compatible with the serialization format required for E2E processing, reducing the complex conversion process from physical quantity signals to serialized signals, and eliminating the need for manual conversion based on the communication matrix. In this way, whether it is a system upgrade or a signal configuration change, there is no need to pay too much attention to the complex conversion related to RTE, which greatly reduces the update adaptation cost and improves the maintainability and versatility of the system. At the same time, since the manual conversion steps are reduced, the risk of signal processing errors caused by manual calculation errors is also reduced, and the accuracy and reliability of signal processing are improved.

[0076] Therefore, the embodiments of the present invention solve the problem in the prior art that, in the E2E encapsulation of periodic task completion signals, due to the influence of task scheduling, the E2E Rolling Counter occasionally cannot be accumulated strictly according to the specified number of steps, and the serialization process needs to complete the conversion one by one according to the coefficients and offsets of different signals, which has low versatility, high error-proneness and high maintenance cost.

[0077] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, article or device. In the absence of further restrictions, the elements defined by the sentence "including a ..." do not exclude the existence of other identical elements in the process, article or device including the elements.

[0078] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0079] For the convenience of description, the above device is described by dividing the functions into various units / modules. Of course, when implementing the present invention, the functions of each unit / module can be implemented in the same or multiple software and / or hardware.

[0080] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned devices. The storage medium can also be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM).

[0081] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An E2E processing method for signal fusion in multiple modes, characterized in that: include: In the communication layer module, the IPDU original signal data in the IPDU buffer is obtained and stored in the local variable; Determine whether signal data fusion processing is required according to preset data fusion conditions; If so, a preset fusion algorithm is called based on the data structure information to fuse the IPDU original signal data in the IPDU buffer and the IPDU signal data to be fused to obtain the signal data to be encapsulated.

2. According to the E2E processing method for signal fusion in multiple modes in claim 1, the calling of a preset fusion algorithm based on data structure information to fuse the IPDU original signal data in the IPDU buffer with the IPDU signal data to be fused comprises: Defining parameters in the data structure information, the parameters including: message frame length, total number of signals to be fused, start bit of each signal and signal length; Based on the defined signal start bit and length, a mask matching operation is performed on the IPDU original signal data and the IPDU signal data to be fused, to generate mask information of the original signal data and the IPDU signal data to be fused at the bit positions respectively; According to the mask information, a bitwise AND operation is performed on the IPDU original signal data and the signal data to be fused to filter out their respective valid signal parts; A bitwise OR operation is performed on the valid signal part in the filtered IPDU original signal data and the valid signal part in the signal data to be fused, and the values ​​of the corresponding bits are merged to obtain the fused signal data to be encapsulated.

3. According to the E2E processing method for signal fusion in multiple modes as claimed in claim 1, after obtaining the signal data to be packaged, the method further comprises: According to the preset E2E implementation conditions, determine whether the signal to be packaged meets the implementation conditions for entering the E2E processing link; If the conditions are met, the signal to be packaged is classified and managed according to the signal grouping hierarchy structure, and the signal to be packaged is parsed to obtain the signal data value participating in the E2E operation in the serialized data.

4. According to the E2E processing method for signal fusion in multiple modes as claimed in claim 3, the classifying and managing the signals to be packaged according to the signal grouping hierarchy structure, and parsing the signals to be packaged to obtain signal data values ​​participating in the E2E operation in the serialized data comprises: Classify and manage the signals to be packaged layer by layer according to signal frames, signal groups, and specific signal values, wherein the signal frame is a signal set at the highest level, each signal frame contains several signal groups, and each signal group contains multiple specific signals; The signal to be packaged and the sequence number in the signal frame corresponding to the signal to be packaged are input into a preset parsing algorithm; Locating the corresponding signal group and specific signal value according to the sequence number, and then obtaining the value of the corresponding field from the signal to be packaged according to the signal start bit; The value of the corresponding field is assigned to the signal variable in the corresponding signal data to be encapsulated, so as to be used for performing subsequent E2E signal data encapsulation.

5. The E2E processing method for multi-mode signal fusion according to claim 1, characterized in that: The preset data fusion condition is configured to be set according to the vehicle operation mode or the actual situation of the project, and is used to determine whether to perform a signal fusion operation.

6. The E2E processing method for multi-mode signal fusion according to claim 3, characterized in that: The preset E2E implementation conditions are configured to be set according to the vehicle operation mode and / or the actual operation environment.

7. The E2E processing method for multi-mode signal fusion according to claim 3, characterized in that: After parsing the signal to be packaged to obtain the signal data value participating in the E2E operation in the serialized data, and completing the E2E package protection for the signal to be packaged, the method further includes: updating the signal data value to the signal variable defined in the data management library; Call the IPDU data packaging algorithm to update the value of the signal variable to the corresponding bit of the IPDU original data; The updated IPDU original data continues to be processed through the communication layer callback mechanism to prepare for the next E2E data encapsulation protection.

8. The E2E processing method for multi-mode signal fusion according to claim 7, characterized in that: The IPDU data packing algorithm is the inverse operation of the IPDU parsing algorithm, and is configured to perform packing operations according to the configured signal start bit, signal length and byte order information, and update the signal data value to the corresponding bit position of the IPDU original data.

9. A domain controller, characterized in that: The method is configured to execute the E2E processing method for multi-mode signal fusion as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the E2E processing method for multi-mode signal fusion as described in any one of claims 1 to 8.

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