Vehicle-mounted operating system and debugging system

Abstract

The invention provides a vehicle-mounted operating system and a debugging system. The vehicle-mounted operating system comprises a bottom soft layer and a basic service layer, the bottom soft layer is connected with the basic service layer, the bottom soft layer comprises various equipment calling interfaces, hardware equipment is called through the equipment calling interfaces, the dependence on a hardware platform is reduced, and the applicability of a vehicle-mounted operating system is improved; the basic service layer comprises a plurality of specified basic services and interfaces of the plurality of specified basic services, and the basic service layer is used for executing the specified basic services corresponding to the interfaces called by a calling party in response to detection of calling of the interfaces of the plurality of specified basic services by the calling party; the basic service layer is connected with the application and algorithm layer, the application and algorithm layer comprises a plurality of algorithm nodes used for realizing specific algorithms, and the basic service layer is also used for scheduling and managing the algorithm nodes of the application and algorithm layer, so that the vehicle-mounted operating system is accessed to each algorithm node, and various intelligent driving algorithm functions are realized.

Description

Technical Field

[0001] The present application relates to the field of vehicle-mounted technology, and in particular to a vehicle-mounted operating system and debugging system. Background Art

[0002] The automotive operating system (OS) is a program system that manages and controls the software and hardware resources on the vehicle, making full use of the hardware's computing resources and making the access and iteration of algorithms smoother and more robust. The OS supports the development of upper-level software, data connection, and human-machine interface functions of the vehicle.

[0003] The in-vehicle operating system generally includes the following: (1) a hardware platform, which includes a computing unit (Central Processing Unit, CPU) that can run the operating system and provides hardware units such as artificial intelligence (AI) acceleration hard core and video link-related accelerators required in the field of intelligent driving; (2) an operating system kernel, which mainly completes the management and scheduling of memory, the management and scheduling of the CPU's working time sequence (threads or processes), and the management, scheduling and driver packaging of core hardware devices; (3) various system-level monitoring, interface management, file management, and various services such as communication, system time synchronization, network communication protocols, and AI-specific computing required in the field of intelligent driving.

[0004] At present, the vehicle operating system can be developed based on the Adaptive AutoSAR mode. For example, the vehicle operating system can be set to the hardware layer, software layer and application layer based on the Adaptive AutoSAR mode. The hardware layer includes the hardware platform, the software layer includes the operating system kernel and various monitoring, interface management, file management at the system level, as well as the communication, system time synchronization, network communication protocol, AI dedicated computing and other services required in the field of intelligent driving, and the application layer is used to provide vehicle-related applications. However, with the development of automobile intelligence, vehicle functions are becoming more and more abundant, making the automotive electrical and electronic architecture (Electrical / Electronic Architecture, EEA) evolve towards a central computing platform, and the design of the domain control system is becoming more and more complex. With the increase in complexity, the software development cycle and difficulty based on the traditional Classic AutoSAR mode are also greatly improved, and its corresponding reliability and robustness will continue to decline. Summary of the invention

[0005] In view of the above problems, embodiments of the present application provide a vehicle-mounted operating system and debugging system that overcome the above problems or at least partially solve the above problems.

[0006] In a first aspect, an embodiment of the present application provides a vehicle-mounted operating system, including: a bottom soft layer and a basic service layer;

[0007] The bottom soft layer is connected to the basic service layer, and the bottom soft layer includes multiple device calling interfaces;

[0008] The basic service layer includes multiple designated basic services and interfaces of the multiple designated basic services, and the basic service layer is used to execute the designated basic services corresponding to the interfaces called by the caller in response to detecting the call of the interfaces of the multiple designated basic services by the caller;

[0009] The basic service layer connects the application and algorithm layer, the application and algorithm layer includes a plurality of algorithm nodes for implementing specific algorithms, and the basic service layer is also used for scheduling and managing the algorithm nodes of the application and algorithm layer.

[0010] Optionally, the device call interface provided by the bottom software layer includes a POSIX interface and multiple computing device driver interfaces, and the computing device driver interface is used to drive and manage multiple hardware devices for the intelligent driving system coupled to the vehicle operating system.

[0011] Optionally, the bottom soft layer includes an operating system kernel, a device and computing abstraction module, and the POSIX interface;

[0012] The operating system kernel is used to manage and control the hardware and software resources of the vehicle-mounted computer system;

[0013] The device and computing abstraction module are used to abstractly encapsulate multiple hardware devices used in the intelligent driving system to obtain computing device driver interfaces corresponding to multiple hardware devices used in the intelligent driving system.

[0014] Optionally, the plurality of designated basic services include a plurality of designated communication services and algorithm node access services;

[0015] The basic service layer includes a service-oriented communication service module and an execution management module;

[0016] The service-oriented communication service module includes communication interfaces corresponding to the plurality of designated communication services, and in response to detecting a call to the communication interface by a caller, communicates with the caller according to the designated communication service corresponding to the called communication interface;

[0017] The execution management module includes an access interface for the algorithm node access service. The execution management module accesses the algorithm nodes of the application and algorithm layer through the access interface, and schedules and manages the algorithm nodes of the application and algorithm layer.

[0018] Optionally, the service-oriented communication service module includes a communication interface corresponding to a subscription-publishing communication service and a communication interface corresponding to a query-response communication service.

[0019] Optionally, the basic service layer further includes a health management module, and the health management module is used to collect health indicator information of one or more algorithm nodes of the application and algorithm layer.

[0020] Optionally, the basic service layer further includes a state management module;

[0021] The state management module receives health indicator information of one or more algorithm nodes collected by the health management module, and identifies the state of the algorithm node based on the health indicator information; in response to identifying an algorithm node that does not conform to the expected state, the state management module communicates with the execution management module, and the execution management module performs management on the algorithm node that does not conform to the expected state.

[0022] Optionally, the state management module is used to define the state of each algorithm node, and to define a common state of multiple algorithm nodes.

[0023] Optionally, the state management module is used to define the start state, running state and end state of each algorithm node; and, the state management module is used to define the common start state, running state and end state of multiple algorithm nodes.

[0024] In a second aspect, an embodiment of the present application provides a debugging system, which runs on a PC and is used to develop, verify, and debug vehicle software for the vehicle operating system described in the first aspect.

[0025] Optionally, the debugging system includes an online debugging subsystem;

[0026] The online debugging subsystem is used to send a debugging command to the vehicle operating system during the operation of the vehicle operating system, and the debugging command is used to instruct the collection of specified information;

[0027] The online debugging subsystem responds to the information fed back by the vehicle-mounted operating system by performing real-time display and recording to obtain a recorded data packet;

[0028] The vehicle-mounted operating system calls the communication interface of the service-oriented communication service module according to the debugging command to call the communication service to realize the collection of the specified information.

[0029] Optionally, the debugging system further includes an offline debugging subsystem, and the offline debugging subsystem is used to display the recorded data packets and perform debugging based on the recorded data packets.

[0030] The vehicle operating system provided by the embodiment of the present application includes a bottom soft layer and a basic service layer; the bottom soft layer can enable the vehicle operating system to couple multiple hardware devices for the intelligent driving system, and the bottom soft layer abstractly encapsulates multiple hardware devices for the intelligent driving system to obtain a device call interface, which can shield the differences between different hardware devices, reduce the dependence on the hardware platform, and improve the applicability of the vehicle operating system; the basic service layer includes a variety of designated basic services and interfaces of designated basic services, and the various designated basic services provided by the basic service layer can realize functions such as network communication protocols, various monitoring, communication between the various layers of the vehicle operating system, time synchronization with external systems, and communication, etc., and can also call the hardware devices coupled to the vehicle operating system by calling the device call interface of the bottom soft layer. The basic service layer is connected to the application and algorithm layer, and can manage and schedule the algorithm nodes of the application and algorithm layer to realize the functions provided by the application and algorithm layer, such as the intelligent driving function, so that the vehicle operating system can access multiple intelligent driving functions and realize intelligent driving. The vehicle operating system provided by the embodiment of the present application improves the lightness and ease of use of the overall design based on a clear and concise layered architecture. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 The following is an architecture diagram of the vehicle operating system provided by the embodiment of the present application;

[0032] Figure 2 The following is an architecture diagram of the bottom soft layer in the vehicle-mounted operating system provided by an embodiment of the present application;

[0033] Figure 3 The following is an architecture diagram of the basic service layer in the vehicle operating system provided by the embodiment of the present application;

[0034] Figure 4 An architectural diagram showing a combination of a debugging system and a vehicle-mounted operating system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0036] It should be understood that the "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. The multiple in the embodiments of the present application can include two and more than two.

[0037] In the various embodiments of the present application, it should be understood that the size of the serial numbers of the following processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0038] Figure 1 The schematic diagram of the structure of the service-oriented vehicle operating system provided by the embodiment of the present application is shown. Figure 1 As shown, the vehicle operating system includes a bottom soft layer and a basic service layer. The bottom soft layer is connected to the basic service layer. The basic service layer is connected to the bottom soft layer, the application and the algorithm layer. The application and algorithm layer includes multiple algorithm nodes for implementing specific algorithms such as perception, decision-making, positioning, etc.

[0039] The bottom software layer includes a variety of device call interfaces. As an optional example, the device call interface provided by the bottom software layer includes a POSIX interface and a plurality of computing device driver interfaces.

[0040] The POSIX interface is a standardized operating system interface in the UNIX kernel environment. The POSIX interface provided by the bottom software layer is responsible for providing a programming interface based on the UNIX standard to the basic service layer.

[0041] The computing device driver interface is used to drive and manage multiple hardware devices for intelligent driving systems coupled to the vehicle operating system. The bottom soft layer can abstractly encapsulate multiple hardware devices for intelligent driving systems to obtain multiple computing device driver interfaces dedicated to hardware devices for intelligent driving systems. For example, the bottom soft layer manages and abstractly encapsulates heterogeneous computing (such as AI computing engines, image processing of video links, etc.) hard cores to obtain corresponding driver interfaces. Multiple hardware devices coupled to the vehicle operating system are driven and managed by calling the computing device driver interface provided by the bottom soft layer.

[0042] The basic service layer includes multiple designated basic services and interfaces of the multiple designated basic services. The designated basic service is called by calling the interface of the designated basic service. In response to detecting the caller's call to the interface of the multiple designated basic services, the basic service layer executes the designated basic service corresponding to the interface called by the caller. As an optional example, the functions implemented by the multiple designated basic services include but are not limited to: network communication protocols, various monitoring, communication between various layers of the vehicle operating system, time synchronization with external systems, communication and other functions.

[0043] The basic service layer can also call the device calling interface provided by the underlying software layer to access multiple hardware devices for the intelligent driving system coupled to the vehicle operating system.

[0044] The designated basic service also includes an algorithm node access service. The basic service layer includes an access interface for the algorithm node access service, through which the algorithm nodes of the application and algorithm layer are scheduled and managed. For example, the basic service layer abstractly implements the operation process of the algorithm node based on the principle of "data input, data calculation, and data output", and provides a unified interface for algorithm nodes of different types and sizes to access the vehicle-mounted operating system of the embodiment of the present application.

[0045] The vehicle operating system provided by the embodiment of the present application includes a bottom soft layer and a basic service layer; the bottom soft layer can enable the vehicle operating system to couple multiple hardware devices for the intelligent driving system, and the bottom soft layer abstractly encapsulates multiple hardware devices for the intelligent driving system to obtain a device call interface, thereby reducing the dependence on the hardware platform, being able to shield the differences between different hardware devices, and improving the applicability of the vehicle operating system; the basic service layer includes a variety of designated basic services and interfaces for designated basic services, and the various designated basic services provided by the basic service layer can realize functions such as network communication protocols, various monitoring, communication between the various layers of the vehicle operating system, time synchronization with external systems, and communication, and can also call the hardware devices coupled to the vehicle operating system by calling the device call interface of the bottom soft layer. The basic service layer is connected to the application and algorithm layer, and can manage and schedule the algorithm nodes of the application and algorithm layer to realize the functions provided by the application and algorithm layer, such as the intelligent driving function, so that the vehicle operating system can access multiple intelligent driving functions and realize intelligent driving. The vehicle operating system provided by the embodiment of the present application improves the lightness and ease of use of the overall design based on a clear and concise layered architecture.

[0046] Figure 2 The schematic diagram of the structure of the bottom soft layer in the vehicle-mounted operating system provided by the embodiment of the present application is shown. Figure 2 As shown, the bottom software layer includes the operating system kernel, device and computing abstraction modules, and POSIX interfaces.

[0047] The operating system kernel is used to manage and control the hardware and software resources of the vehicle computer system. By managing and controlling the hardware and software resources of the vehicle computer system through the operating system kernel, data transmission and reception between hardware and basic services and functional composition can be completed. The operating system kernel (Linux kernel) is responsible for managing and scheduling system memory, managing and scheduling the CPU's working time sequence (threads or processes), etc.

[0048] The POSIX interface is a standardized operating system interface in the UNIX kernel environment. The POSIX interface provides a programming interface based on the UNIX standard to the basic service layer.

[0049] The bottom soft layer can provide different types of device call interfaces by integrating device and computing abstract modules and POSIX interfaces in the bottom soft layer; by deploying the operating system kernel in the bottom soft layer, the operating system kernel can be used to manage and control the hardware and software resources of the on-board computer system to ensure the normal operation of the computer system.

[0050] In an optional embodiment, the multiple designated basic services included in the basic service layer include multiple designated communication services and algorithm node access services.

[0051] Figure 3 The schematic diagram of the structure of the basic service layer in the vehicle operating system provided by the embodiment of the present application is shown. Figure 3 As shown, the basic service layer includes a service-oriented communication service module and an execution management module.

[0052] The service-oriented communication service module provides communication interfaces corresponding to a plurality of designated communication services. When the service-oriented communication service module detects a call to a certain communication interface by the caller, it responds to the call to the communication interface and communicates with the caller based on the designated communication service corresponding to the communication interface. The caller here can be a module included in the vehicle operating system, a debugging system for debugging the vehicle operating system, or other systems (such as vehicle-mounted applications). In the case where the caller is a debugging system, the debugging system interacts with the service-oriented communication service module by calling the communication interface to perform debugging operations; in the case where the caller is a vehicle-mounted application, the vehicle-mounted application interacts with the service-oriented communication service module by calling the communication interface to obtain demand data from the service-oriented communication service module.

[0053] Optionally, the service-oriented communication service module includes a communication interface corresponding to a subscription-publishing communication service and a communication interface corresponding to a query-response communication service.

[0054] The service-oriented communication service module can provide subscription-publishing communication services and query-response communication services to the outside world. Accordingly, the service-oriented communication service module includes communication interfaces corresponding to these two communication services. The communication mechanism that provides subscription-publishing communication services and query-response communication services based on the communication interface can provide data to vehicle-mounted applications that need certain information in a timely and efficient manner, while also avoiding resource occupation caused by redundant information dissemination. This flexible communication mechanism is called a service-oriented communication service.

[0055] Among them, when providing communication services, the service-oriented communication service module calls the POSIX interface of the underlying soft layer to enable the Ethernet-related protocols of the operating system kernel of the underlying soft layer, thereby realizing the dissemination of information.

[0056] The execution management module includes an access interface for the algorithm node access service. The execution management module accesses the algorithm nodes of the application and algorithm layer through the access interface, and schedules and manages the algorithm nodes of the application and algorithm layer. For example, based on the principle of "data input, data calculation, and data output", the execution management module abstractly implements the operation process of the algorithm node and provides a unified access interface for algorithm nodes of different types and sizes to access the vehicle-mounted operating system.

[0057] Alternatively, if Figure 3 As shown, the basic service layer also includes a health management module, which is used to collect health indicator information of each algorithm node in the application and algorithm layer. The health management module is responsible for detecting the health status of each algorithm node to obtain the health indicator information of the algorithm node, and reporting the health indicator information of each algorithm node after aggregating it, such as reporting it to the execution management module, which will reasonably schedule the algorithm nodes based on the reporting situation. Among them, the health indicator information can be flexibly set according to the functions implemented by the algorithm node, and the present invention is not limited here. As an optional example, the health indicator information includes, for example, execution time and delay time.

[0058] Alternatively, if Figure 3 As shown, the basic service layer includes a state management module based on the health management module, the execution management module and the service-oriented communication service module.

[0059] The state management module is responsible for monitoring the status of each module in the basic service layer and the status of multiple algorithm nodes in the application and algorithm layer. The state management module is used to define the status of each algorithm node, and can also define the common status of multiple algorithm nodes. When defining the status, the state management module can define the start status, running status, and end status of each algorithm node, and can also define the start status, running status, and end status of multiple algorithm nodes.

[0060] The state management module receives health indicator information of one or more algorithm nodes collected by the health management module, and identifies the state of the algorithm node based on the health indicator information; in response to identifying an algorithm node that does not match the expected state, the state management module communicates with the execution management module, and the execution management module performs management on the algorithm node that does not match the expected state.

[0061] The health management module communicates with the state management module through the service-oriented communication service module, and reports the collected health indicator information of the algorithm nodes to the state management module. After receiving the health indicator information of one or more algorithm nodes collected and reported by the health management module, the state management module identifies the state of the algorithm node based on the health indicator information. If it is identified that the state of one or more algorithm nodes in the application and algorithm layer does not match the expected state, the state management module communicates with the execution management module based on the service-oriented communication service module, and reports the identified situation to the execution management module, which executes management of one or more algorithm nodes in the application and algorithm layer to ensure the stability of the entire software system. When the execution management module executes management on the algorithm node, it controls the algorithm node to switch between the start, run, and end states.

[0062] Among them, since the state management module can define the start state, running state and end state of each algorithm node, and can define the common start state, running state and end state of multiple algorithm nodes. If the state management module receives the health indicator information of a certain algorithm node reported by the health management module, the state management module compares the state of the algorithm node indicated by the health indicator information with the defined state of the algorithm node to identify whether the state of the algorithm node is consistent with the expected state. If the health indicator information of multiple algorithm nodes reported by the health management module is received, it can be first detected whether the multiple algorithm nodes belong to the algorithm nodes of the corresponding common state. If they do, the state management module compares the state of the algorithm nodes indicated by the health indicator information of the multiple algorithm nodes with the common state of the defined multiple algorithm nodes to identify whether the state is consistent; if not, the state management module compares the state indicated by the health indicator information of the algorithm node with the state of the defined algorithm node one by one.

[0063] The vehicle operating system provided by the embodiment of the present application includes a bottom software layer and a basic service layer; the bottom software layer can enable the vehicle operating system to couple multiple hardware devices for the intelligent driving system through the device and computing abstraction module, and the device and computing abstraction module abstractly encapsulates multiple hardware devices for the intelligent driving system to obtain a device call interface, which can shield the differences between different hardware devices, reduce dependence on the hardware platform, and improve the applicability of the vehicle operating system; the service-oriented communication service module of the basic service layer provides a variety of communication interfaces corresponding to designated communication services, and realizes communication between various layers of the vehicle operating system and communication with external systems (such as vehicle-mounted applications) through the communication interface, so as to provide data for the vehicle operating system and vehicle-mounted applications in a timely and efficient manner, and avoid resource occupation caused by redundant information propagation; the execution management module includes an access interface of the algorithm node access service, which accesses the algorithm nodes of the application and algorithm layers through the access interface, and schedules and manages the algorithm nodes of the application and algorithm layers, so that the vehicle operating system can access algorithms of different types and scales.

[0064] The vehicle operating system provided by the embodiment of the present application improves the lightness and ease of use of the overall design based on a clear and concise layered architecture; the basic service layer can also call the hardware devices coupled to the vehicle operating system by calling the device call interface of the bottom soft layer; the health management module and the state management module provide health management and state management mechanisms to ensure the stability of the vehicle operating system. By providing a service-oriented communication service module, communication services can be provided to the outside world. By introducing health management, execution management, and state management mechanisms, functional safety support can be provided for the field of autonomous driving to ensure high-quality autonomous driving services.

[0065] An embodiment of the present application also provides a debugging system configured for a vehicle-mounted operating system, which runs on a personal computer (PC) and is used to develop, verify, and debug vehicle-mounted software for the vehicle-mounted operating system in the above embodiment.

[0066] like Figure 4 The figure shows an architecture diagram combining a debugging system with an on-board operating system. The debugging system provided in this embodiment is a system provided for users who develop based on the on-board operating system, and the system includes an online debugging subsystem and an offline debugging subsystem. The online debugging subsystem is used to send debugging commands to the on-board operating system during the operation of the on-board operating system, and the debugging commands are used to instruct the collection of specified information; the online debugging subsystem responds to the information fed back by the on-board operating system, performs real-time display and recording, and obtains a recorded data packet; wherein, the on-board operating system calls the communication interface of the service-oriented communication service module to call the communication service according to the debugging command to realize the collection of specified information.

[0067] During the operation of the vehicle operating system, the online debugging subsystem sends a debugging command to the vehicle operating system to instruct the collection of specified information, so that the vehicle operating system calls the communication interface of the service-oriented communication service module deployed in the basic service layer based on the debugging command to call the communication service to realize the collection of the specified information. The information collected by the vehicle operating system includes the status and attributes of the algorithm nodes of the application and algorithm layer supported and served by the vehicle operating system, as well as the status and attributes of the messages flowing in the vehicle operating system.

[0068] Among them, if the specified information collected by the vehicle operating system is the data of the dedicated hardware device, the service-oriented communication service module calls the interface of the underlying software layer to collect the data of the dedicated hardware device. If the specified information collected by the vehicle operating system is the health indicator information or status data of the algorithm node, the service-oriented communication service module obtains the data monitored by the health management module or the status management module.

[0069] After collecting the specified information, the vehicle operating system provides the information to the online debugging subsystem. In response to the information fed back by the vehicle operating system, the online debugging subsystem displays and records in real time to obtain a recorded data packet. By displaying the information fed back by the vehicle operating system in real time, developers can perform online debugging to enable better development, verification, debugging, and maintenance of vehicle software on the vehicle operating system. By recording the recorded data packet while the information is displayed, a basis can be provided for debugging the vehicle operating system in an offline state.

[0070] Since the online debugging subsystem records data and obtains recorded data packets, when the vehicle operating system is offline, the offline debugging subsystem is used to display the recorded data packets, and the developer debugs the vehicle operating system based on the recorded data packets to achieve system debugging in the offline state.

[0071] For example, the specific operations that developers perform based on the offline debugging subsystem are as follows:

[0072] 1. Open the offline debugging subsystem. The offline debugging subsystem includes a visual interface, through which the recorded data packets can be viewed and analyzed.

[0073] 2. Operate the "Play" option on the visual interface and choose to play the specified xxx.bag data packet.

[0074] 3. Drag the progress bar of the playback window to display the frame-by-frame playback content. You can also choose to move forward or backward frame by frame.

[0075] 4. Move forward and backward n frames each time, and n can be set at any time using the text box.

[0076] 5. Enter the serial number in the input box in the available window of the visualization interface to specify a specific frame to be displayed.

[0077] 6. Click on the element in the displayed image to display the target attributes.

[0078] 7. Operate the "Data Display" option of the visualization interface, select the specified xxx.bag data packet, and display the data waveform of the corresponding topic message.

[0079] 8. Drag the progress bar in the pop-up window to display the content of the corresponding time period.

[0080] 9. Use the "Zoom" option on the visualization interface to zoom in or out the displayed content using the mouse wheel.

[0081] The above introduces the debugging system configured for the vehicle operating system. By configuring the debugging system, the vehicle software can be better developed, verified, debugged, maintained, etc. on the vehicle operating system; and by deploying the online debugging subsystem and the offline debugging subsystem, online debugging and offline debugging can be performed, providing developers with different options for debugging the vehicle operating system.

[0082] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A vehicle-mounted operating system, characterized in that: include: Bottom soft layer and basic service layer; The bottom soft layer is connected to the basic service layer, and the bottom soft layer includes multiple device calling interfaces; The basic service layer includes multiple designated basic services and interfaces of the multiple designated basic services, and the basic service layer is used to execute the designated basic services corresponding to the interfaces called by the caller in response to detecting the call of the interfaces of the multiple designated basic services by the caller; The basic service layer connects the application and algorithm layer, the application and algorithm layer includes a plurality of algorithm nodes for implementing specific algorithms, and the basic service layer is also used for scheduling and managing the algorithm nodes of the application and algorithm layer.

2. The vehicle-mounted operating system according to claim 1, characterized in that: The device call interface provided by the bottom software layer includes a POSIX interface and multiple computing device driver interfaces, and the computing device driver interface is used to drive and manage multiple hardware devices for the intelligent driving system coupled to the vehicle operating system.

3. The vehicle-mounted operating system according to claim 2, characterized in that: The bottom soft layer includes an operating system kernel, a device and computing abstraction module, and the POSIX interface; The operating system kernel is used to manage and control the hardware and software resources of the vehicle-mounted computer system; The device and computing abstraction module are used to abstractly encapsulate multiple hardware devices used in the intelligent driving system to obtain computing device driver interfaces corresponding to multiple hardware devices used in the intelligent driving system.

4. The vehicle-mounted operating system according to claim 1, characterized in that: The multiple designated basic services include multiple designated communication services and algorithm node access services; The basic service layer includes a service-oriented communication service module and an execution management module; The service-oriented communication service module includes communication interfaces corresponding to the plurality of designated communication services, and in response to detecting a call to the communication interface by a caller, communicates with the caller according to the designated communication service corresponding to the called communication interface; The execution management module includes an access interface for the algorithm node access service. The execution management module accesses the algorithm nodes of the application and algorithm layer through the access interface, and schedules and manages the algorithm nodes of the application and algorithm layer.

5. The vehicle-mounted operating system according to claim 4, characterized in that: The service-oriented communication service module includes a communication interface corresponding to a subscription-publishing communication service and a communication interface corresponding to a query-response communication service.

6. The vehicle-mounted operating system according to claim 4, characterized in that: The basic service layer also includes a health management module, which is used to collect health indicator information of one or more algorithm nodes of the application and algorithm layer.

7. The vehicle-mounted operating system according to claim 6, characterized in that: The basic service layer also includes a state management module; The state management module receives health indicator information of one or more algorithm nodes collected by the health management module, and identifies the state of the algorithm node based on the health indicator information; in response to identifying an algorithm node that does not conform to the expected state, the state management module communicates with the execution management module, and the execution management module performs management on the algorithm node that does not conform to the expected state.

8. The vehicle-mounted operating system according to claim 7, characterized in that: The state management module is used to define the state of each algorithm node, and to define the common state of multiple algorithm nodes.

9. The vehicle-mounted operating system according to claim 8, characterized in that: The state management module is used to define the start state, running state and end state of each algorithm node; and, The state management module is used to define the common start state, running state and end state of multiple algorithm nodes.

10. A debugging system, characterized in that: The debugging system runs on a PC and is used to develop, verify and debug vehicle software for the vehicle operating system described in any one of claims 1 to 9.

11. The debugging system according to claim 10, characterized in that: in, The debugging system includes an online debugging subsystem; The online debugging subsystem is used to send a debugging command to the vehicle operating system during the operation of the vehicle operating system, and the debugging command is used to instruct the collection of specified information; The online debugging subsystem responds to the information fed back by the vehicle-mounted operating system by performing real-time display and recording to obtain a recorded data packet; The vehicle-mounted operating system calls the communication interface of the service-oriented communication service module according to the debugging command to call the communication service to realize the collection of the specified information.

12. The debugging system according to claim 11, characterized in that: in, The debugging system further includes an offline debugging subsystem, and the offline debugging subsystem is used to display the recorded data packets and perform debugging based on the recorded data packets.

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