Communication method and device of intelligent automobile operating system, in-vehicle infotainment equipment and medium

Abstract

The invention provides a communication method and device of an intelligent automobile operating system, automobile equipment and a medium, and can be applied to the technical field of intelligent automobiles. A virtual machine monitor and a plurality of operating systems are deployed on an intelligent automobile, when any two operating systems in the plurality of operating systems in the intelligent automobile need to communicate, a shared memory is mapped for the two operating systems through the virtual machine monitor, and then a sender obtains a write permission of the shared memory; the method comprises the following steps: receiving a shared memory, writing to-be-transmitted data into the shared memory, and after the data is written, sending a first falling instruction to a virtual machine monitor to instruct the virtual machine monitor to send a first interruption instruction to a receiver so as to instruct the receiver to read the data from the shared memory, so that in the application, the data is stored in the shared memory; the sender and the receiver realize interrupt forwarding by means of the virtual machine monitor, cross-domain communication is realized by combining a shared memory technology and a virtualized interrupt technology, and the practicability is relatively high.

Description

Technical Field

[0001] The present application relates to the field of smart car technology, and in particular to a communication method, device, vehicle equipment and medium for a smart car operating system. Background Art

[0002] By decoupling the operating system of the macro kernel architecture, a single function or module (such as the file system, device driver, etc.) is separated from the kernel and deployed as an independent service in an independent operating environment; the kernel retains only a few functions and provides these services with basic capabilities such as communication, so that they can cooperate with each other to complete the functions required by the operating system. This architecture is called a microkernel. Under the microkernel architecture, services are completely isolated from each other. Even if a single service fails or is attacked by a security attack, it will not directly cause the entire operating system to crash or be compromised, thereby effectively improving the reliability and security of the operating system. In addition, the microkernel architecture brings about a further separation of mechanisms and policies, and can also more conveniently customize different services for different scenarios, so as to better adapt to different application requirements.

[0003] The monolithic kernel is also called a single kernel. Its characteristic is that all modules of the operating system kernel (including process scheduling, memory management, file system, device driver, etc.) run in kernel state and have the ability to directly operate hardware. As the kernel functions of the monolithic kernel operating system continue to grow, the complexity of the system continues to increase, causing more problems in terms of reliability and security. This is because under the monolithic kernel architecture, all kernel modules run in privileged space, and a single point of error may cause the entire system to crash or be compromised. Even the kernel system written by the operating system kernel programmer with extremely strong programming ability is difficult to avoid bugs.

[0004] With the improvement of the intelligence level of smart car technology, multiple operating systems are usually set up in smart cars. An operating system can be regarded as a domain, such as the autonomous driving domain, cockpit domain, power domain, chassis domain, body domain and other communication domains. During the operation of smart cars, communication between different domains is usually required. Therefore, a communication method between operating systems is urgently needed. Summary of the invention

[0005] The present application provides a communication method, device, vehicle equipment and medium for an intelligent automobile operating system, so as to provide a communication solution between operating systems.

[0006] In a first aspect, the present application provides a communication method of an intelligent automobile operating system, wherein a virtual machine monitor and multiple operating systems are deployed on the intelligent automobile, and the method is applied to a first operating system among the multiple operating systems, and the method includes:

[0007] When a shared memory is completed with a second operating system among the multiple operating systems through the virtual machine monitor mapping, obtaining a write permission for the shared memory;

[0008] When the write permission is obtained, writing the data to be transmitted into the shared memory;

[0009] A first trap instruction is sent to the virtual machine monitor; the first trap instruction carries the second system identifier of the second operating system; so that the virtual machine monitor sends a first interrupt instruction to the second operating system referred to by the second system identifier, the first interrupt instruction carries the first system identifier of the first operating system, and the second operating system reads the data from the shared memory of the first operating system referred to by the first system identifier.

[0010] Optionally, obtaining the write permission of the shared memory includes:

[0011] Calling a first write function to obtain write permission for the shared memory and requesting a shared memory write lock;

[0012] The method further comprises:

[0013] When the data writing is completed, the second write function is called to release the shared memory write lock.

[0014] Optionally, the method further comprises:

[0015] When obtaining the write permission of the shared memory again, if it is determined that the second operating system is reading data from the shared memory, controlling the current process to enter a waiting-for-write sleep state;

[0016] receiving a second interrupt instruction sent by the virtual machine monitor; the second interrupt instruction is sent by the virtual machine monitor after receiving a second trap instruction sent by the second operating system, and the second trap instruction is sent by the second operating system after data reading is completed;

[0017] The process is awakened to write the data to be transmitted into the shared memory through the process.

[0018] In a second aspect, the present application provides a communication method of an intelligent automobile operating system, wherein a virtual machine monitor and multiple operating systems are deployed on the intelligent automobile, and the method is applied to the virtual machine monitor, and the method includes:

[0019] mapping a shared memory for a first operating system and a second operating system among the plurality of operating systems;

[0020] receiving a first trap instruction sent by the first operating system; the first trap instruction is sent by the first operating system after writing the data to be transmitted in the shared memory, and the first trap instruction carries a second system identifier of the second operating system;

[0021] A first interrupt instruction is sent to the second operating system indicated by the second system identifier, wherein the first interrupt instruction carries the first system identifier of the first operating system, so that the second operating system reads the data from a shared memory with the first operating system indicated by the first system identifier.

[0022] Optionally, the method further comprises:

[0023] receiving a second trap instruction sent by the second operating system, where the second trap instruction is sent by the second operating system after data reading is completed; and the second trap instruction carries the first system identifier;

[0024] A second interrupt instruction is sent to the first operating system, so that the first operating system writes the data to be transmitted into the shared memory again.

[0025] In a third aspect, the present application provides a communication method for an intelligent automobile operating system, wherein a virtual machine monitor and multiple operating systems are deployed on the intelligent automobile, and the method is applied to a second operating system among the multiple operating systems, and the method includes:

[0026] When a shared memory is completed with a first operating system among the multiple operating systems through the virtual machine monitor mapping, obtaining a read permission for the shared memory;

[0027] receiving a first interrupt instruction sent by the virtual machine monitor; the first interrupt instruction is sent by the virtual machine monitor when receiving a first trap instruction sent by the first operating system, and the first interrupt instruction carries a first system identifier of the first operating system, and the first trap instruction is sent by the first operating system after writing data to be transmitted in the shared memory;

[0028] The data is read from a shared memory of a first operating system identified by the first system identifier.

[0029] Optionally, obtaining the read permission of the shared memory includes:

[0030] Calling a first read function to obtain the read permission of the shared memory and requesting a shared memory read lock;

[0031] The method further comprises:

[0032] When the data is read, the second read function is called to release the shared memory read lock.

[0033] Optionally, the method further comprises:

[0034] When obtaining the read permission of the shared memory, if it is determined that the first operating system is writing data into the shared memory, the current process is controlled to enter a waiting-to-read sleep state until the first interrupt instruction is received.

[0035] Optionally, the method further comprises:

[0036] When the data is read, a second trap instruction is sent to the virtual machine monitor, the second trap instruction carries the first system identifier, so that the virtual machine monitor sends a second interrupt instruction to the first operating system, so that the first operating system writes data to the shared memory again.

[0037] In a fourth aspect, the present application provides a communication device for an intelligent automobile operating system, wherein a virtual machine monitor and multiple operating systems are deployed on the intelligent automobile, and the device comprises:

[0038] an acquisition module, configured to acquire the write permission of the shared memory when the shared memory is mapped with a second operating system among the multiple operating systems through the virtual machine monitor;

[0039] A writing module, used for writing the data to be transmitted into the shared memory when the writing permission is obtained;

[0040] A sending module is used to send a first trap instruction to the virtual machine monitor; the first trap instruction carries the second system identifier of the second operating system; so that the virtual machine monitor sends a first interrupt instruction to the second operating system referred to by the second system identifier, and the first interrupt instruction carries the first system identifier of the first operating system, so that the second operating system reads the data from the shared memory of the first operating system referred to by the first system identifier.

[0041] In a fifth aspect, the present application provides a communication device for an intelligent automobile operating system, wherein a virtual machine monitor and multiple operating systems are deployed on the intelligent automobile, and the device comprises:

[0042] A mapping module, configured to map a shared memory for a first operating system and a second operating system among the plurality of operating systems;

[0043] a receiving module, configured to receive a first trap instruction sent by the first operating system; the first trap instruction is sent by the first operating system after writing the data to be transmitted in the shared memory, and the first trap instruction carries a second system identifier of the second operating system;

[0044] A sending module is used to send a first interrupt instruction to a second operating system indicated by the second system identifier, wherein the first interrupt instruction carries the first system identifier of the first operating system, so that the second operating system reads the data from a shared memory with the first operating system indicated by the first system identifier.

[0045] In a sixth aspect, the present application provides a communication device for an intelligent automobile operating system, wherein a virtual machine monitor and multiple operating systems are deployed on the intelligent automobile, and the device comprises:

[0046] an acquisition module, configured to acquire a read permission of the shared memory when the shared memory is mapped with a first operating system among the multiple operating systems through the virtual machine monitor;

[0047] a receiving module, configured to receive a first interrupt instruction sent by the virtual machine monitor; the first interrupt instruction is sent by the virtual machine monitor when receiving a first trap instruction sent by the first operating system, and the first interrupt instruction carries a first system identifier of the first operating system, and the first trap instruction is sent by the first operating system after writing data to be transmitted in a shared memory;

[0048] A reading module is used to read the data from a shared memory of a first operating system identified by the first system identifier.

[0049] In a seventh aspect, the present application provides a vehicle machine device, comprising: a processor and a memory communicatively connected to the processor;

[0050] The memory stores computer-executable instructions;

[0051] The processor executes the computer-executable instructions stored in the memory to implement the communication method of the intelligent automobile operating system as described in any one of the first aspect, the second aspect or the third aspect.

[0052] In an eighth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer execution instructions, and when the computer execution instructions are executed by a processor, the communication method of the intelligent automobile operating system described in any one of the first aspect, the second aspect or the third aspect is used.

[0053] In a ninth aspect, the present application provides a computer program product, comprising a computer program, which, when executed by a processor, implements the communication method of the intelligent automobile operating system described in any one of the first aspect, the second aspect or the third aspect.

[0054] The communication method, device, vehicle equipment and medium of the intelligent automobile operating system provided by the present application, when any two of the multiple operating systems in the intelligent automobile need to communicate, the shared memory is mapped for the two operating systems through the virtual machine monitor, and then the sender obtains the write permission of the shared memory, and writes the data to be transmitted into the shared memory. After the data is written, a first trap instruction is sent to the virtual machine monitor to instruct the virtual machine monitor to send a first interrupt instruction to the receiver to instruct the receiver to read the data from the shared memory. It can be seen that in the present application, the data is stored in the shared memory, and the sender and the receiver use the virtual machine monitor to realize interrupt forwarding, and cross-domain communication is realized by combining shared memory technology and virtualization interrupt technology, which is highly practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0056] Figure 1 It is a schematic diagram of an application scenario provided by this application;

[0057] Figure 2 It is a flow chart of a communication method of an intelligent automobile operating system provided by the present application;

[0058] Figure 3 It is a flow chart of another communication method of an intelligent automobile operating system provided by the present application;

[0059] Figure 4 It is a flowchart of another communication method of an intelligent automobile operating system provided by the present application;

[0060] Figure 5 It is a flowchart of another communication method of an intelligent automobile operating system provided by the present application;

[0061] Figure 6 It is a flowchart of another communication method of an intelligent automobile operating system provided by the present application;

[0062] Figure 7 It is a structural schematic diagram of a communication device of an intelligent automobile operating system provided by the present application;

[0063] Figure 8 It is a structural schematic diagram of another communication device of an intelligent automobile operating system provided by the present application;

[0064] Fig. 9 It is a structural schematic diagram of another communication device of an intelligent automobile operating system provided by the present application;

[0065] Fig.10 It is a structural schematic diagram of a vehicle machine device provided by this application.

[0066] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0067] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0068] The terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the following embodiments, "multiple" means more than two, unless otherwise clearly and specifically defined.

[0069] With the development of the economy and the improvement of living standards, safe and convenient travel has become one of people's main needs, and smart car technology has also developed rapidly.

[0070] With the improvement of the intelligence level of smart car technology, multiple operating systems (OS) are usually set in smart cars. An operating system can be regarded as a domain, such as the autonomous driving domain, cockpit domain, power domain, chassis domain, body domain and other communication domains. During the operation of smart cars, communication between different domains is usually required. Therefore, a communication method between operating systems is urgently needed.

[0071] In view of the problems in the prior art, the inventor found in the research that there are currently multiple ways of communication between two processes, one of which is the shared memory method. However, the operating system is different from the process, and the two operating systems are completely isolated, so one operating system cannot directly send data to another operating system. In view of this problem, the inventor takes into account that there are generally multiple operating systems and virtual machine monitors deployed on smart cars, and the operating system can request services from the virtual machine monitor by interruption, so the virtual machine monitor can be used to implement interrupt forwarding, thereby realizing cross-domain communication. Specifically, when any two of the multiple operating systems in the smart car need to communicate, the virtual machine monitor is used to map the shared memory for the two operating systems, and then the sender obtains the write permission of the shared memory and writes the data to be transmitted into the shared memory. After the data is written, the first trap instruction is sent to the virtual machine monitor to instruct the virtual machine monitor to send the first interrupt instruction to the receiver to instruct the receiver to read data from the shared memory. It can be seen that in this application, the data is stored in the shared memory, and the sender and the receiver use the virtual machine monitor to implement interrupt forwarding, and the cross-domain communication is realized by combining the shared memory technology and the virtualization interrupt technology, which is more practical.

[0072] The following introduces the application scenarios of the communication method of the intelligent automobile operating system provided in the embodiments of the present application.

[0073] Figure 1 is a schematic diagram of an application scenario provided by this application. Figure 1 As shown, the application scenario includes: a vehicle device 1. The vehicle device 1 is a device set on a smart car. A virtual machine monitor and multiple virtual machines are deployed in the vehicle device 1, and an operating system runs in each virtual machine. The vehicle device 1 is used to execute the method provided in the present application to realize cross-domain communication.

[0074] In this embodiment, when any two operating systems among multiple operating systems need to communicate across domains, shared memory is mapped for the two operating systems through the virtual machine monitor, and then the first operating system as the sender writes data to the shared memory. After writing, it sends a first trap instruction to the virtual machine monitor, and the virtual machine monitor sends a first interrupt instruction to the second operating system as the receiver, and the second operating system reads data from the shared memory, thereby realizing cross-domain communication.

[0075] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0076] Figure 2 This is a flow chart of a communication method of an intelligent automobile operating system provided by the present application. An intelligent automobile is provided with a vehicle-mounted device, in which a virtual machine monitor and multiple operating systems are deployed. The method provided in this embodiment is applied to the first operating system among the multiple operating systems. The execution subject of the method is a communication device of the intelligent automobile operating system, which is integrated in the vehicle-mounted device. Figure 2 As shown, the communication method of the intelligent automobile operating system provided in this embodiment includes the following steps:

[0077] Step S101, when a shared memory is mapped with a second operating system among multiple operating systems through a virtual machine monitor, obtaining a write permission of the shared memory.

[0078] The sender of the cross-domain communication is the first operating system, and the receiver is the second operating system. The first operating system and the second operating system implement the mapping of the shared memory through a virtual machine monitor. Exemplarily, the virtual machine monitor is a hypervisor. After the shared memory mapping is completed, the first operating system obtains the write permission of the shared memory so as to write data into the shared content.

[0079] Step S102: When the write permission is obtained, the data to be transmitted is written into the shared memory.

[0080] The data to be transmitted is data that the first operating system needs to transmit to the second operating system. Exemplarily, the first operating system executes an operation of writing the data to be transmitted to the shared memory through a process.

[0081] Step S103, sending a first trap instruction to the virtual machine monitor; the first trap instruction carries the second system identifier of the second operating system; so that the virtual machine monitor sends a first interrupt instruction to the second operating system indicated by the second system identifier, the first interrupt instruction carries the first system identifier of the first operating system, and the second operating system reads data from the shared memory of the first operating system indicated by the first system identifier.

[0082] After the data is written, the first operating system sends a first trap instruction to the virtual machine monitor. Exemplarily, the first operating system sends the first trap instruction through a system call (such as a hypervisor call). The first trap instruction carries a second system identifier of the second operating system, and the second system identifier is used to uniquely refer to the second operating system, so that the virtual machine monitor knows which operating system among the multiple operating systems to send the first interrupt instruction.

[0083] In this embodiment, when any two of the multiple operating systems in the smart car need to communicate, shared memory is mapped for the two operating systems through the virtual machine monitor, and then the sender obtains write permission for the shared memory and writes the data to be transmitted into the shared memory. After the data is written, a first trap instruction is sent to the virtual machine monitor to instruct the virtual machine monitor to send a first interrupt instruction to the receiver to instruct the receiver to read data from the shared memory. It can be seen that in this application, the data is stored in the shared memory, and the sender and the receiver use the virtual machine monitor to realize interrupt forwarding, and cross-domain communication is realized by combining shared memory technology and virtualization interrupt technology, which is more practical.

[0084] Figure 3 This is a flow chart of another communication method of an intelligent automobile operating system provided by the present application. An intelligent automobile is provided with a vehicle-mounted device, in which a virtual machine monitor and multiple operating systems are deployed. The method is applied to the virtual machine monitor. The execution subject of the method is a communication device of the intelligent automobile operating system, which is integrated in the vehicle-mounted device. Figure 3 As shown, the communication method of the intelligent automobile operating system provided in this embodiment includes the following steps:

[0085] Step S201 : mapping a shared memory for a first operating system and a second operating system among a plurality of operating systems.

[0086] The sender of the cross-domain communication is the first operating system, and the receiver is the second operating system. The first operating system and the second operating system implement the mapping of the shared memory through a virtual machine monitor. Exemplarily, the virtual machine monitor is a hypervisor.

[0087] Step S202, receiving a first trap instruction sent by the first operating system; the first trap instruction is sent by the first operating system after writing the data to be transmitted in the shared memory, and the first trap instruction carries the second system identifier of the second operating system.

[0088] The virtualization monitor receives the first trap instruction, which indicates that the first operating system is requesting the virtualization monitor to provide a service. At this time, the virtualization monitor parses the first trap instruction, obtains the second system identifier, and then executes step S203.

[0089] Step S203: Send a first interrupt instruction to the second operating system indicated by the second system identifier, wherein the first interrupt instruction carries the first system identifier of the first operating system, so that the second operating system reads data from a shared memory with the first operating system indicated by the first system identifier.

[0090] In this embodiment, when any two of the multiple operating systems in the smart car need to communicate, shared memory is mapped for the two operating systems through the virtual machine monitor, and then the sender writes the data to be transmitted in the shared memory. After the data is written, a first trap instruction is sent to the virtual machine monitor to instruct the virtual machine monitor to send a first interrupt instruction to the receiver to instruct the receiver to read the data from the shared memory. It can be seen that in this application, the data is stored in the shared memory, and the sender and the receiver use the virtual machine monitor to realize interrupt forwarding, and cross-domain communication is realized by combining shared memory technology and virtualization interrupt technology, which is more practical.

[0091] Figure 4 This is a flow chart of another communication method of an intelligent automobile operating system provided by the present application. A vehicle-mounted device is provided on the intelligent automobile, and a virtual machine monitor and multiple operating systems are deployed in the vehicle-mounted device. The method is applied to the second operating system among the multiple operating systems. The execution subject of the method is a communication device of the intelligent automobile operating system, and the device is integrated in the vehicle-mounted device. Figure 4 As shown, the communication method of the intelligent automobile operating system provided in this embodiment includes the following steps:

[0092] Step S301, when a shared memory is mapped with a first operating system among multiple operating systems through a virtual machine monitor, a read permission of the shared memory is obtained.

[0093] Among them, the sender of the cross-domain communication is the first operating system, and the receiver is the second operating system. The first operating system and the second operating system implement the mapping of the shared memory through the virtual machine monitor. Exemplarily, the virtual machine monitor is a hypervisor. After the shared memory mapping is completed, the second operating system obtains the read permission of the shared memory in order to read data from the shared content. However, since the first operating system is likely to write data to the shared memory at this time, the second operating system cannot obtain the read permission of the shared memory. At this time, the second operating system waits for the first operating system to complete the writing before obtaining the read permission.

[0094] Step S302, receiving a first interrupt instruction sent by the virtual machine monitor; the first interrupt instruction is sent by the virtual machine monitor when it receives a first trap instruction sent by the first operating system, and the first interrupt instruction carries a first system identifier of the first operating system, and the first trap instruction is sent after the first operating system writes the data to be transmitted in the shared memory.

[0095] When the first interrupt instruction sent by the virtual machine monitor is received, it indicates that the first operating system has completed writing. At this time, the second operating system obtains the read permission of the shared content so as to read data from the shared memory.

[0096] Step S303: read data from the shared memory of the first operating system identified by the first system identifier.

[0097] In this embodiment, when any two of the multiple operating systems in the smart car need to communicate, shared memory is mapped for the two operating systems through the virtual machine monitor, and then the data to be transmitted is written into the shared memory of the sender. After the data is written, a first trap instruction is sent to the virtual machine monitor to instruct the virtual machine monitor to send a first interrupt instruction to the receiver to instruct the receiver to read the data from the shared memory. It can be seen that in this application, the data is stored in the shared memory, and the sender and the receiver use the virtual machine monitor to realize interrupt forwarding, and cross-domain communication is realized by combining shared memory technology and virtualization interrupt technology, which is more practical.

[0098] The above three embodiments respectively illustrate the communication method of the intelligent automobile operating system provided by the present application from the perspectives of the first operating system, the virtual machine monitor and the second operating system. The following is an explanation from the perspective of overall interaction.

[0099] Figure 5 It is a flow chart of another communication method of an intelligent automobile operating system provided by the present application, such as Figure 5 As shown, the communication method of the intelligent automobile operating system provided in this embodiment includes the following steps:

[0100] Step S401: A virtual machine monitor maps a shared memory for a first operating system and a second operating system among a plurality of operating systems.

[0101] In this embodiment, the implementation of step S401 is the same as the implementation of step S201 in the above embodiment, and will not be described in detail here.

[0102] Step S402: The first operating system obtains the write permission of the shared memory.

[0103] Optionally, the implementation of obtaining the write permission of the shared memory includes: calling a first write function to obtain the write permission of the shared memory and requesting a write lock of the shared memory. Exemplarily, the first write function is a down_write() function.

[0104] Step S403: When the first operating system obtains the write permission, it writes the data to be transmitted into the shared memory.

[0105] Correspondingly, when the data writing is completed, the first operating system calls the second write function to release the shared memory write lock. Exemplarily, the second write function is the up_write() function.

[0106] In this embodiment, the first write function and the second write function are equivalent to a synchronous interface. The first operating system obtains the write permission of the shared memory by calling the first write function and requests a shared memory write lock. In this way, the shared memory is now exclusively used by the first operating system to write data. When the data is written, the shared memory write lock is released by calling the second write function, thereby releasing the permission of the shared memory. In this way, it can be ensured that when the first operating system is writing data, no other operating system performs operations on the shared memory, thereby ensuring the accuracy of data writing.

[0107] Step S404: the first operating system sends a first trap instruction to the virtual machine monitor; the first trap instruction carries a second system identifier of the second operating system.

[0108] Exemplarily, the first operating system sends a first trap instruction by calling the irq_trigger() function. Specifically, the irq_trigger() function traps into the hypervisor by calling the hypervisor call, and the hypervisor injects an interrupt into the second operating system according to the interrupt number passed in. The interrupt number is used to refer to the interrupt source. In this embodiment, the interrupt source refers to the operating system.

[0109] Step S405: The virtual machine monitor sends a first interrupt instruction to the second operating system indicated by the second system identifier, where the first interrupt instruction carries the first system identifier of the first operating system.

[0110] In this embodiment, the implementation of step S404 is the same as the implementation of step S103 in the above embodiment, and the implementation of step S405 is the same as the implementation of step S203 in the above embodiment, which will not be repeated here.

[0111] Step S406: The second operating system obtains the read permission of the shared memory.

[0112] Optionally, the implementation of obtaining the read permission of the shared memory includes: calling a first read function to obtain the read permission of the shared memory and requesting a shared memory read lock. Exemplarily, the first read function is a down_read() function.

[0113] In one application scenario, the communication method of the intelligent automobile operating system provided in the present application also includes: when the second operating system obtains the read permission of the shared memory, if it is determined that the first operating system is writing data to the shared memory, it controls the current process to enter a waiting-to-read sleep state until the first interrupt instruction is received.

[0114] Exemplarily, the second operating system controls the current process to enter a waiting-to-read sleep state by calling the wait_event_timeout() function until the first interrupt instruction is received, and wakes up the process by calling the wake_up() function.

[0115] In this embodiment, the second operating system obtains the read permission of the shared memory after the shared memory mapping is completed, but it is very likely that the first operating system has already obtained the write permission of the shared memory and is writing data to the shared memory. At this time, the second operating system cannot perform operations on the shared memory. The current process can be controlled to enter the waiting-to-read sleep state, thereby waiting for the first operating system to complete writing. Until the first interrupt instruction is received, it means that the first operating system has completed writing. At this time, the second operating system wakes up the process in the waiting-to-read sleep state, obtains the read permission of the shared memory, and performs the data reading operation.

[0116] Step S407: the second operating system reads data from the shared memory of the first operating system identified by the first system identifier.

[0117] The data written in the shared memory is the data that the first operating system wants to transmit to the second operating system. The second operating system realizes communication between the two operating systems by reading the data.

[0118] Correspondingly, when the data reading is completed, the second operating system calls the second read function to release the shared memory read lock. Exemplarily, the second read function is the up_read() function.

[0119] In this embodiment, the second operating system obtains the read permission of the shared memory by calling the first read function and requests the shared memory read lock, so that the shared memory is now exclusively used by the second operating system to read data. When the data is read, the shared memory read lock is released by calling the second read function, thereby releasing the permission of the shared memory. This ensures that when the second operating system is reading data, no other operating system performs operations on the shared memory, thereby ensuring the accuracy of data reading.

[0120] Optionally, after the communication is completed, the data in the shared memory may be deleted to save storage space.

[0121] In an application scenario, when the amount of data to be transmitted is small and the space of the shared memory is sufficient to store the data to be transmitted, the first operating system and the second operating system can complete the communication by completing one interaction.

[0122] In another application scenario, when the amount of data to be transmitted is large, the shared memory space is insufficient to store the data to be transmitted, and the first operating system and the second operating system need to complete multiple communications. Accordingly, the first operating system writes a portion of the data to the shared memory each time, and after the second operating system has finished reading, the remaining data is written again so that the second operating system can read, and so on, until all data transmission is completed. In this case, the communication method of the intelligent automobile operating system provided by the present application also includes the following steps:

[0123] Step S408: When the data reading is completed, the second operating system sends a second trap instruction to the virtual machine monitor, where the second trap instruction carries the first system identifier.

[0124] Step S409: The virtual machine monitor sends a second interrupt instruction to the first operating system.

[0125] When receiving the second trap instruction sent by the second operating system, the virtual machine monitor sends a second interrupt instruction to the first operating system.

[0126] Step S410: the first operating system writes the data to be transmitted into the shared memory again.

[0127] It should be noted that when the first operating system obtains the write permission of the shared memory again, if it determines that the second operating system is reading data from the shared memory, it controls the current process to enter the waiting-for-write sleep state until it receives the second interrupt instruction sent by the virtual machine monitor, and then wakes up the process to write the data to be transmitted to the shared memory through the process.

[0128] Exemplarily, the second operating system sends a second trap instruction by calling the irq_trigger() function. Specifically, the irq_trigger() function traps into the hypervisor by calling a hypervisor call, and the hypervisor injects an interrupt into the first operating system according to the incoming interrupt number.

[0129] In this embodiment, when the second operating system has completed reading the data, it sends a second trap instruction to the virtual machine monitor to request the virtual machine monitor to provide services, so that the virtual machine monitor sends a second interrupt instruction to the first operating system through interrupt technology to remind the first operating system to continue writing data to the shared memory. In this way, even when the amount of data to be transmitted is large, communication can be achieved through multiple read and write operations on the shared memory.

[0130] The above embodiment is described by taking synchronous communication as an example, that is, the operation of writing again must wait for the completion of the reading operation, and the reading operation must also wait for the completion of the writing operation. It should be noted that the communication method of the intelligent automobile operating system provided by the present application can also be implemented by asynchronous communication, that is, the writing operation and the reading operation are not dependent on each other. For example, the shared memory is a FIFO (first-in-first-out queue). As long as the FIFO is not full, data can be written all the time, and if the FIFO is not empty, data can be read all the time.

[0131] In addition, the above embodiment is described by taking one send and one receive as an example. It should be noted that the communication method of the intelligent automobile operating system provided in the present application can also be implemented by a one send and multiple receive method, and the communication method is more flexible.

[0132] Among them, the operating system has kernel state and user state, and data is read and sent directly in the user state without going through the kernel state, which is more efficient.

[0133] The following takes the virtual machine monitor as a hypervisor, the first operating system as a Linux system, and the second operating system as an RTOS (Real Time Operating System) system as an example to illustrate the communication method of the intelligent automobile operating system provided in this application. Figure 6 It is a flow chart of another communication method of an intelligent automobile operating system provided by the present application, such as Figure 6 As shown, the process includes:

[0134] Shared memory mapping process: The Linux system calls the initialization init() function, the virtual machine kernel module (VM1 / VM2kernel module) sends a memory mapping request (Stage 2 memory map) to the hypervisor, the hypervisor returns a mapping success message (map success), and the virtual machine kernel module returns a call success message (initsuccess) to the Linux system; similarly, the RTOS system calls the initialization init() function, the virtual machine kernel module (VM1 / VM2 kernelmodule) sends a memory mapping request (Stage 2 memory map) to the hypervisor, the hypervisor returns a mapping success message (map success), and the virtual machine kernel module returns a call success message (init success) to the RTOS system; the Linux system calls the mmap() function to request the creation of a mapping area, and the virtual machine kernel module returns a creation success message (mmap success), where the return value of the mmap() function is the starting address of the mapping area. Accordingly, the RTOS system calls the request() function, and the virtual machine kernel module returns a response success message (request success).

[0135] Data writing process: The Linux system calls the down_write() function, the virtual machine kernel module returns a call success message (down_write success), the Linux system writes data (data write), and after the data is written, the up_write() function is called to release the shared memory write lock, and the virtual machine kernel module returns a call success message (up write success). In this process, the RTOS system calls the down_read() function, but the Linux system is writing data, so the wait_event_timeout() function is called to control the current process to enter the waiting to read sleep state (wait to read) until the Linux system completes writing. After the Linux system completes writing, it also calls the irq_trigger() function to wake up the RTOS system in the waiting to read sleep state (wake_up read).

[0136] Data reading process: The RTOS system reads data (data read). In this process, the Linux system calls the down_write() function, but the RTOS system is reading data, so the wait_event_timeout() function is called to control the current process to enter the waiting read sleep state (wait to write) until the RTOS system finishes writing. After the RTOS system finishes reading, it calls the up_read() function to release the shared memory read lock, and the virtual machine kernel module returns a call success message (up read success), and also calls the irq_trigger() function to wake up the Linux system process in the waiting write sleep state (wake_up write).

[0137] Figure 7 is a schematic diagram of the structure of a communication device of an intelligent automobile operating system provided by the present application, such as Figure 7 As shown, in this embodiment, the communication device 500 of the intelligent automobile operating system can be set in the vehicle equipment, and a virtual machine monitor and multiple operating systems are deployed on the intelligent automobile. The communication device 500 of the intelligent automobile operating system includes:

[0138] The acquisition module 501 is used to acquire the write permission of the shared memory when the shared memory is mapped with the second operating system among the multiple operating systems through the virtual machine monitor;

[0139] The writing module 502 is used to write the data to be transmitted into the shared memory when the writing permission is obtained;

[0140] The sending module 503 is used to send a first trap instruction to the virtual machine monitor; the first trap instruction carries the second system identifier of the second operating system; so that the virtual machine monitor sends a first interrupt instruction to the second operating system indicated by the second system identifier, and the first interrupt instruction carries the first system identifier of the first operating system, so that the second operating system reads data from the shared memory of the first operating system indicated by the first system identifier.

[0141] Optionally, the acquisition module 501 is used to:

[0142] Call the first write function to obtain the write permission of the shared memory and request the shared memory write lock;

[0143] The apparatus 500 further comprises:

[0144] The release module is used to call the second write function to release the shared memory write lock when the data is written.

[0145] Optionally, the apparatus 500 further includes:

[0146] A waiting module is used for controlling the current process to enter a waiting-for-write sleep state if it is determined that the second operating system is reading data from the shared memory when obtaining the write permission of the shared memory again;

[0147] A receiving module, used for receiving a second interrupt instruction sent by the virtual machine monitor; the second interrupt instruction is sent by the virtual machine monitor after receiving a second trap instruction sent by the second operating system, and the second trap instruction is sent by the second operating system after the data reading is completed;

[0148] The wake-up module is used to wake up the process so as to write the data to be transmitted into the shared memory through the process.

[0149] The communication device of the intelligent automobile operating system provided in this embodiment can execute the technical solution of the corresponding method embodiment. Its implementation principle and technical effect are similar to those of the corresponding method embodiment, and will not be described in detail here.

[0150] Figure 8 is a schematic diagram of the structure of another communication device of an intelligent automobile operating system provided by the present application, such as Figure 8 As shown, in this embodiment, the communication device 600 of the intelligent automobile operating system can be set in the vehicle equipment, and a virtual machine monitor and multiple operating systems are deployed on the intelligent automobile. The communication device 600 of the intelligent automobile operating system includes:

[0151] A mapping module 601, configured to map a shared memory for a first operating system and a second operating system among the multiple operating systems;

[0152] The receiving module 602 is used to receive a first trap instruction sent by the first operating system; the first trap instruction is sent by the first operating system after writing the data to be transmitted in the shared memory, and the first trap instruction carries the second system identifier of the second operating system;

[0153] The sending module 603 is used to send a first interrupt instruction to the second operating system indicated by the second system identifier, where the first interrupt instruction carries the first system identifier of the first operating system, so that the second operating system reads data from the shared memory of the first operating system indicated by the first system identifier.

[0154] Optionally, the apparatus 600 further includes:

[0155] The receiving module 602 is used to receive a second trap instruction sent by the second operating system, where the second trap instruction is sent by the second operating system after the data is read; the second trap instruction carries the first system identifier;

[0156] The sending module 603 is used to send a second interrupt instruction to the first operating system, so that the first operating system writes the data to be transmitted into the shared memory again.

[0157] The communication device of the intelligent automobile operating system provided in this embodiment can execute the technical solution of the corresponding method embodiment. Its implementation principle and technical effect are similar to those of the corresponding method embodiment, and will not be described in detail here.

[0158] Fig. 9 is a structural diagram of another communication device of an intelligent automobile operating system provided by the present application, such as Fig. 9 As shown, in this embodiment, the communication device 700 of the intelligent automobile operating system can be set in the vehicle equipment, and a virtual machine monitor and multiple operating systems are deployed on the intelligent automobile. The communication device 700 of the intelligent automobile operating system includes:

[0159] The acquisition module 701 is used to acquire the read permission of the shared memory when the shared memory is mapped with the first operating system among the multiple operating systems through the virtual machine monitor;

[0160] The receiving module 702 is used to receive a first interrupt instruction sent by the virtual machine monitor; the first interrupt instruction is sent by the virtual machine monitor when receiving a first trap instruction sent by the first operating system, and the first interrupt instruction carries a first system identifier of the first operating system, and the first trap instruction is sent by the first operating system after writing data to be transmitted in the shared memory;

[0161] The reading module 703 is configured to read data from a shared memory of the first operating system identified by the first system identifier.

[0162] Optionally, the acquisition module 701 is used to:

[0163] Call the first read function to obtain the read permission of the shared memory and request the shared memory read lock;

[0164] The apparatus 700 further comprises:

[0165] The release module is used to call the second read function to release the shared memory read lock when the data is read.

[0166] Optionally, the apparatus 700 further includes:

[0167] The waiting module is used to control the current process to enter a waiting read sleep state when obtaining the read permission of the shared memory, if it is determined that the first operating system is writing data into the shared memory, until a first interrupt instruction is received.

[0168] Optionally, the apparatus 700 further includes:

[0169] The sending module is used to send a second trap instruction to the virtual machine monitor when the data reading is completed. The second trap instruction carries the first system identifier, so that the virtual machine monitor sends a second interrupt instruction to the first operating system, so that the first operating system writes data to the shared memory again.

[0170] The communication device of the intelligent automobile operating system provided in this embodiment can execute the technical solution of the corresponding method embodiment. Its implementation principle and technical effects are similar to those of the corresponding method embodiment, and will not be described in detail here.

[0171] The embodiment of the present application also provides a vehicle machine device. Fig.10 This is a schematic diagram of the structure of a vehicle equipment provided by this application. Fig.10 As shown, the vehicle machine device 800 includes: a processor 801 and a memory 802 communicatively connected to the processor 801 .

[0172] The memory 802 stores computer-executable instructions; the processor 801 executes the computer-executable instructions stored in the memory 802 to implement the communication method of the intelligent automobile operating system provided in this application.

[0173] In the embodiment of the present application, the memory 802 and the processor 801 are connected via a bus. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc.

[0174] The components, their connections and relationships, and their functions shown herein are only examples and are not intended to limit the implementation of the present application described and / or required herein. The various components are interconnected using different buses and can be installed on a common motherboard or in other ways as needed.

[0175] In an exemplary embodiment, a computer-readable storage medium is also provided, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the communication method of the intelligent automobile operating system provided in the present application.

[0176] In an exemplary embodiment, a computer program product is also provided, including a computer program, which is used to implement the communication method of the intelligent automobile operating system provided in the present application when the computer program in the computer program product is executed by a processor.

[0177] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0178] It should be further noted that, although the various steps in the flowchart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0179] It should be understood that the above-mentioned device embodiments are only illustrative, and the device of the present application can also be implemented in other ways. For example, the division of units / modules in the above-mentioned embodiments is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units, modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed.

[0180] In addition, unless otherwise specified, each functional unit / module in each embodiment of the present application may be integrated into one unit / module, each unit / module may exist physically separately, or two or more units / modules may be integrated together. The above-mentioned integrated unit / module may be implemented in the form of hardware or in the form of a software program module.

[0181] If the integrated unit / module is implemented in the form of hardware, the hardware may be a digital circuit, an analog circuit, etc. The physical implementation of the hardware structure includes but is not limited to transistors, memristors, etc. Unless otherwise specified, the processor may be any appropriate hardware processor, such as a central processing unit (CPU), a graphics processing unit (GPU), an application specific integrated circuit (ASIC), a digital signal processor (DSP), a programmable logic device (PLD), a field programmable gate array (FPGA), a controller, a microcontroller, a microprocessor or other electronic components. Unless otherwise specified, the memory can be implemented by any type of volatile or non-volatile storage device or a combination of them, such as USB flash drive, random-access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), enhanced dynamic random access memory (EDRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), resistive random access memory (RRAM), high-bandwidth memory HBM (High-BandwidthMemory), hybrid memory cube HMC (Hybrid Memory Cube) and other media that can store program code.

[0182] If the integrated unit / module is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a memory and includes a number of instructions for the vehicle-mounted device to execute all or part of the steps of the methods of each embodiment of the present application.

[0183] In the above embodiments, the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not 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.

[0184] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0185] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A communication method for an intelligent automobile operating system, characterized in that: The smart car is deployed with a virtual machine monitor and multiple operating systems, and the method is applied to a first operating system among the multiple operating systems, and the method includes: When a shared memory is completed with a second operating system among the multiple operating systems through the virtual machine monitor mapping, obtaining a write permission for the shared memory; When the write permission is obtained, writing the data to be transmitted into the shared memory; A first trap instruction is sent to the virtual machine monitor; the first trap instruction carries the second system identifier of the second operating system; so that the virtual machine monitor sends a first interrupt instruction to the second operating system referred to by the second system identifier, the first interrupt instruction carries the first system identifier of the first operating system, and the second operating system reads the data from the shared memory of the first operating system referred to by the first system identifier.

2. The method according to claim 1, characterized in that The obtaining the write permission of the shared memory includes: Calling a first write function to obtain write permission for the shared memory and requesting a shared memory write lock; The method further comprises: When the data writing is completed, the second write function is called to release the shared memory write lock.

3. The method according to claim 1, characterized in that The method further comprises: When obtaining the write permission of the shared memory again, if it is determined that the second operating system is reading data from the shared memory, controlling the current process to enter a waiting-for-write sleep state; receiving a second interrupt instruction sent by the virtual machine monitor; the second interrupt instruction is sent by the virtual machine monitor after receiving a second trap instruction sent by the second operating system, and the second trap instruction is sent by the second operating system after data reading is completed; The process is awakened to write the data to be transmitted into the shared memory through the process.

4. A communication method for an intelligent automobile operating system, characterized in that: A virtual machine monitor and multiple operating systems are deployed on the smart car, and the method is applied to the virtual machine monitor. The method includes: mapping a shared memory for a first operating system and a second operating system among the plurality of operating systems; receiving a first trap instruction sent by the first operating system; the first trap instruction is sent by the first operating system after writing the data to be transmitted in the shared memory, and the first trap instruction carries a second system identifier of the second operating system; A first interrupt instruction is sent to the second operating system indicated by the second system identifier, wherein the first interrupt instruction carries the first system identifier of the first operating system, so that the second operating system reads the data from a shared memory with the first operating system indicated by the first system identifier.

5. The method according to claim 4, characterized in that The method further comprises: receiving a second trap instruction sent by the second operating system, where the second trap instruction is sent by the second operating system after data reading is completed; and the second trap instruction carries the first system identifier; A second interrupt instruction is sent to the first operating system, so that the first operating system writes the data to be transmitted into the shared memory again.

6. A communication method for an intelligent automobile operating system, characterized in that: The smart car is deployed with a virtual machine monitor and multiple operating systems, and the method is applied to a second operating system among the multiple operating systems, and the method includes: When a shared memory is completed with a first operating system among the multiple operating systems through the virtual machine monitor mapping, obtaining a read permission for the shared memory; receiving a first interrupt instruction sent by the virtual machine monitor; the first interrupt instruction is sent by the virtual machine monitor when receiving a first trap instruction sent by the first operating system, and the first interrupt instruction carries a first system identifier of the first operating system, and the first trap instruction is sent by the first operating system after writing data to be transmitted in the shared memory; The data is read from a shared memory of a first operating system identified by the first system identifier.

7. The method according to claim 6, characterized in that The obtaining of the read permission of the shared memory includes: Calling a first read function to obtain the read permission of the shared memory and requesting a shared memory read lock; The method further comprises: When the data is read, the second read function is called to release the shared memory read lock.

8. The method according to claim 6, characterized in that The method further comprises: When obtaining the read permission of the shared memory, if it is determined that the first operating system is writing data into the shared memory, the current process is controlled to enter a waiting-to-read sleep state until the first interrupt instruction is received.

9. The method according to claim 6, characterized in that The method further comprises: When the data is read, a second trap instruction is sent to the virtual machine monitor, the second trap instruction carries the first system identifier, so that the virtual machine monitor sends a second interrupt instruction to the first operating system, so that the first operating system writes data to the shared memory again.

10. A communication device for an intelligent automobile operating system, characterized in that: A virtual machine monitor and multiple operating systems are deployed on the smart car, and the device includes: an acquisition module, configured to acquire the write permission of the shared memory when the shared memory is mapped with a second operating system among the multiple operating systems through the virtual machine monitor; A writing module, used for writing the data to be transmitted into the shared memory when the writing permission is obtained; A sending module is used to send a first trap instruction to the virtual machine monitor; the first trap instruction carries the second system identifier of the second operating system; so that the virtual machine monitor sends a first interrupt instruction to the second operating system referred to by the second system identifier, and the first interrupt instruction carries the first system identifier of the first operating system, so that the second operating system reads the data from the shared memory of the first operating system referred to by the first system identifier.

11. A communication device for an intelligent automobile operating system, characterized in that: A virtual machine monitor and multiple operating systems are deployed on the smart car, and the device includes: A mapping module, configured to map a shared memory for a first operating system and a second operating system among the plurality of operating systems; a receiving module, configured to receive a first trap instruction sent by the first operating system; the first trap instruction is sent by the first operating system after writing the data to be transmitted in the shared memory, and the first trap instruction carries a second system identifier of the second operating system; A sending module is used to send a first interrupt instruction to a second operating system indicated by the second system identifier, wherein the first interrupt instruction carries the first system identifier of the first operating system, so that the second operating system reads the data from a shared memory with the first operating system indicated by the first system identifier.

12. A communication device for an intelligent automobile operating system, characterized in that: A virtual machine monitor and multiple operating systems are deployed on the smart car, and the device includes: an acquisition module, configured to acquire a read permission of the shared memory when the shared memory is mapped with a first operating system among the multiple operating systems through the virtual machine monitor; a receiving module, configured to receive a first interrupt instruction sent by the virtual machine monitor; the first interrupt instruction is sent by the virtual machine monitor when receiving a first trap instruction sent by the first operating system, and the first interrupt instruction carries a first system identifier of the first operating system, and the first trap instruction is sent by the first operating system after writing data to be transmitted in a shared memory; A reading module is used to read the data from a shared memory of a first operating system identified by the first system identifier.

13. A vehicle machine device, characterized in that: include: A processor and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 3, the method according to any one of claims 4 to 5, or the method according to any one of claims 6 to 9.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method according to any one of claims 1 to 3, the method according to any one of claims 4 to 5, or the method according to any one of claims 6 to 9.

15. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 3, the method according to any one of claims 4 to 5, or the method according to any one of claims 6 to 9 is implemented.

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