VTCU controller task allocation method and device based on AUTOSAR and electronic equipment

Abstract

The invention provides a VTCU controller task allocation method and device based on AUTOSAR and electronic equipment, and the method comprises the steps: dividing an application layer into a plurality of software components according to the functional characteristics of the application layer, and generating an application layer code; importing the application layer code into a configuration tool of the runtime environment to configure related modules of the runtime environment, and generating a runtime environment code; according to the functional characteristics of the running entity of each software component, a periodic task and related modules of the periodic task are configured through a configuration tool of a real-time automobile operating system, and a real-time automobile operating system code is generated; integrating an application layer code, a runtime environment code and a real-time automobile operating system code into a Tasking project, and generating an executable file; and downloading the executable file into a whole vehicle and a gearbox controller through the UDE, and running the executable file. According to the scheme, the load rate of the CPU is effectively reduced, and the running efficiency of the VTCU controller software driving program is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and particularly to a method, device and electronic device for task allocation of a VTCU controller based on AUTOSAR. Background Art

[0002] AUTOSAR (Automotive Open System Architecture) is an automotive open system architecture standard, aiming to provide a standardized, modular and extensible architecture framework for the software development of automotive electronic control units (ECUs). It is jointly developed by automotive manufacturers, suppliers and software development companies to meet the increasingly complex requirements of modern automotive electronic systems. Through standardized hierarchical design and modular development, the AUTOSAR architecture provides an efficient, maintainable and portable framework for the development of automotive electronic systems. It not only improves the development efficiency, but also enhances the reliability and interoperability of the system.

[0003] In the current AUTOSAR architecture, a software component (SWC) is maintained, and the running entity of this SWC still runs in the 10ms task of core 0, resulting in an excessively high CPU load rate for core 0. For the transmission messages among more than 400 messages of the vehicle and transmission control unit (VTCU) controller, divided by the transmission period, a counter is set in the 10ms task of core 0. Each time the 10ms task of core 0 is executed, the timer is incremented by 1. According to the value of the counter, handwritten trigger conditions are set to ensure that the signal transmission function of the message is only called once within the corresponding transmission period. This solution has the following problems: 1. There is only one SWC, which contains all the control logics of the vehicle and transmission, and the algorithms are highly concentrated; 2. There are numerous transmission messages of the vehicle and transmission control unit (VTCU) on the bus. For each signal in the transmission messages, a large number of trigger conditions need to be handwritten; 3. All the algorithm logics in the application layer only run in the 10ms task of core 0, without considering the actual execution period of the algorithms; 4. In the 10ms task of core 0, not only the algorithm logics in the application layer run, but also the main functions of the basic software (BSW) related modules, and it cannot be guaranteed that the 10ms task is accurately and periodically scheduled by the scheduling table; 5. Regarding the transmission and reception periods of the controller area network (CAN) communication messages, there is a lack of corresponding periodic task configuration in the real-time automotive operating system (RTAOS); 6. The CPU load rate of core 0 is high, and the peak load rate exceeds 90%.

[0004] It can be seen from this that in the solution of the prior art, the CPU load rate is relatively high. Summary of the Invention

[0005] The present invention provides a method, device and electronic device for task allocation of a VTCU controller based on AUTOSAR, to solve the defect of relatively high CPU load rate in the prior art, and effectively reduce the CPU load rate and improve the operation efficiency of the software driver program of the VTCU controller.

[0006] The present invention provides a method for task allocation of a VTCU controller based on AUTOSAR, including: According to the functional characteristics of the application layer, the application layer is divided into multiple software components, and application layer code is generated; wherein, the application layer code includes an Arxml file corresponding to each software component. Import the application layer code into the configuration tool of the runtime environment to configure the relevant modules of the runtime environment and generate the runtime environment code; According to the functional characteristics of the running entities of each software component, configure periodic tasks and the relevant modules of periodic tasks through the configuration tool of the real-time automotive operating system, and generate the real-time automotive operating system code; Integrate the application layer code, the runtime environment code, and the real-time automotive operating system code into the Tasking project and generate an executable file; Download the executable file to the vehicle and transmission controller through UDE and run the executable file.

[0007] According to a method for task allocation of a VTCU controller based on AUTOSAR provided by the present invention, after downloading the executable file to the vehicle and transmission controller through UDE and running the executable file, the method further includes: Monitor the CPU load rate of each core in the vehicle and transmission controller through the GLIWA T1 host computer, and the GLIWA T1 host computer is connected to the transmission controller through U2C.

[0008] According to a method for task allocation of a VTCU controller based on AUTOSAR provided by the present invention, the importing the application layer code into the configuration tool of the runtime environment to configure the relevant modules of the runtime environment includes: Import the application layer code into the ISOLAR-AB tool to configure the relevant modules of the runtime environment; wherein, the relevant modules of the runtime environment include at least one of the following: ports and port interfaces, running entities, data access points, time events; Configure the system data mapping related to controller area network communication according to the application layer code; Perform the configuration of the electronic control unit configuration value set and extract system information from the electronic control unit configuration value set; wherein, the system information includes: configuration information of hardware resources, configuration information of communication matrices, software components mapped to the electronic control unit and the running entities of the software components, communication connection relationships between software components, mapping relationships between software components and hardware resources, and communication connection relationships between hardware resources; Map the main functions of the relevant modules of the basic software layer and the running entities of each software to tasks.

[0009] According to a method for task allocation of a VTCU controller based on AUTOSAR provided by the present invention, the configuring periodic tasks and the relevant modules of periodic tasks through the configuration tool of the real-time automotive operating system according to the functional characteristics of the running entities of each software component includes: Determine the operating cycle of the operating entity of each software component according to the functional characteristics of the operating entity of each software component; Configure multiple periodic tasks through a real-time automotive operating system, and the cycle durations of the multiple periodic tasks are different; Allocate the operating entity of each software component to the corresponding periodic task according to the operating cycle of the operating entity of each software component; Configure interrupts, scheduling tables, application layer modules, system clocks, and timers in the real-time automotive operating system.

[0010] According to a method for task allocation of a VTCU controller based on AUTOSAR provided by the present invention, the generation of the executable file includes: Compile the executable file to generate an ELF file and a HEX file.

[0011] According to a method for task allocation of a VTCU controller based on AUTOSAR provided by the present invention, downloading the executable file to the vehicle and transmission controller through UDE and running the executable file specifically includes: Download the ELF file to the vehicle and transmission controller through the UDE host computer and run the executable file.

[0012] According to a method for task allocation of a VTCU controller based on AUTOSAR provided by the present invention, the software driver integrated in the Tasking project further includes a configuration driver for related modules of the microcontroller abstraction layer, a complex driver, a software driver generated by the application layer model, and a GLIWA T1 software driver.

[0013] According to a method for task allocation of a VTCU controller based on AUTOSAR provided by the present invention, the functional characteristics of the application layer include: powertrain at the vehicle level, thermal management, high-voltage accessories, charging network gateway, shift lever, shift self-learning, shift execution, shift decision-making, fault detection, fault recording, inertial unit, GPS unit, power-on and power-off management, instrument management, input and output related to controller area network communication, input and output related to the hardware of the VTCU controller, and off-line detection.

[0014] The present invention also provides a device for task allocation of a VTCU controller based on AUTOSAR, including the following modules: A division module, configured to divide the application layer into multiple software components according to the functional characteristics of the application layer and generate application layer code; wherein, the application layer code includes an Arxml file corresponding to each software component; The first configuration module is used to import the application layer code into the configuration tool of the runtime environment to configure relevant modules of the runtime environment and generate runtime environment code; The second configuration module is used to configure periodic tasks and relevant modules of periodic tasks through the configuration tool of the real-time automotive operating system according to the functional characteristics of the running entities of each software component, and generate real-time automotive operating system code; The integration module is used to integrate the application layer code, the runtime environment code, and the real-time automotive operating system code into the Tasking project and generate an executable file; The running module is used to download the executable file to the vehicle and transmission controller through UDE and run the executable file.

[0015] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and running on the processor. When the processor executes the computer program, it implements the AUTOSAR-based VTCU controller task allocation method as described in any one of the above.

[0016] The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the AUTOSAR-based VTCU controller task allocation method as described in any one of the above.

[0017] The present invention also provides a computer program product, including a computer program. When the computer program is executed by a processor, it implements the AUTOSAR-based VTCU controller task allocation method as described in any one of the above.

[0018] The method, device and electronic device for task allocation of a VTCU controller based on AUTOSAR provided by the present invention can decompose complex tasks into multiple small tasks by dividing the application layer into multiple software components with clear functions, reducing the computational burden of a single task. Each software component has a clear function, which facilitates subsequent allocation to a suitable task cycle according to its functional characteristics, further optimizing task scheduling. By generating an Arxml file and application layer code, the amount of code for manually writing trigger conditions is reduced, the probability of errors is lowered, and memory space is saved. Further, according to the operating cycle characteristics of the software components, tasks are allocated to different periodic tasks, avoiding concentration in the 10ms tasks of core 0. Further, the periodic tasks and related modules of the periodic tasks are configured through a configuration tool of a real-time automotive operating system, and real-time automotive operating system code is generated, rationally utilizing the computing power of a multi-core processor. Further, the executable file is downloaded into the vehicle and transmission controller through UDE, and the executable file is run, reducing the amount of code for manually writing trigger conditions, lowering the probability of errors, and saving memory space. Therefore, the solution of the present application effectively reduces the load rate of the CPU and improves the operating efficiency of the software driver of the VTCU controller. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0020] Figure 1 It is a schematic flowchart of the method for task allocation of a VTCU controller based on AUTOSAR provided by the present invention.

[0021] Figure 2 It is a schematic structural diagram of the device for task allocation of a VTCU controller based on AUTOSAR provided by the present invention.

[0022] Figure 3 It is a schematic structural diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] To make the objectives, technical solutions and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention with reference to the accompanying drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0024] It should be noted that the brief description of terms in this application is only for facilitating the understanding of the following-described embodiments, rather than intending to limit the embodiments of this application. Unless otherwise specified, these terms should be understood in their ordinary and common meanings.

[0025] In this application, terms such as "first", "second", etc. in the specification, claims and the above-mentioned drawings are used to distinguish similar or like objects or entities, and do not necessarily mean to limit a specific order or sequence, unless otherwise indicated (Unless otherwise indicated). It should be understood that such terms can be interchanged under appropriate circumstances, for example, it can be implemented in an order other than those given in the illustrations or descriptions of the embodiments of this application.

[0026] In addition, the terms "comprising" and "having" and any variations thereof are intended to cover but not exclude inclusion. For example, a product or device comprising a series of components does not necessarily have to be limited to those components clearly listed, but may include other components not clearly listed or inherent to these products or devices. The term "module" used in this application refers to any known or later-developed hardware, software, firmware, artificial intelligence, fuzzy logic, or a combination of hardware or / and software code that can perform functions related to that element.

[0027] The technical solution of this application and how the technical solution of this application solves the above technical problems will be described in detail below with specific embodiments. These several specific embodiments below can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The following is combined with Figure 1 Describe the AUTOSAR-based VTCU controller task allocation method of the present invention.

[0028] Figure 1 is a schematic flowchart of the AUTOSAR-based VTCU controller task allocation method provided by the present invention, as Figure 1 shown, this method includes steps 101 to 105.

[0029] Step 101: Divide the application layer into multiple software components according to the functional characteristics of the application layer, and generate application layer code; wherein, the application layer code includes an Arxml file corresponding to each software component.

[0030] Step 102: Import the application layer code into the configuration tool of the runtime environment to configure relevant modules of the runtime environment, and generate runtime environment code.

[0031] Step 103: Configure periodic tasks and related modules of the periodic tasks through the configuration tool of the real-time automotive operating system according to the functional characteristics of the running entities of each software component, and generate real-time automotive operating system code.

[0032] Step 104: Integrate the application layer code, runtime environment code, and real-time automotive operating system code into the Tasking project and generate an executable file.

[0033] Step 105: Download the executable file to the vehicle and transmission controller through UDE and run the executable file.

[0034] In practical applications, the execution entity of the AUTOSAR-based VTCU controller task allocation method can be an AUTOSAR-based VTCU controller task allocation device. There are multiple implementation methods for the AUTOSAR-based VTCU controller task allocation device. For example, it can be implemented through a computer program, such as application software, etc.; or, for example, a chip, etc. It can also be implemented as a medium storing relevant computer programs, such as a USB flash drive, cloud disk, etc.; or, it can also be implemented through an entity device integrated or installed with relevant computer programs, such as a server, intelligent device, etc.

[0035] Among them, AUTOSAR is an automotive open system architecture standard, aiming to provide a standardized, modular, and extensible architecture framework for the software development of automotive electronic control units (ECUs). The AUTOSAR architecture is a layered software architecture, aiming to standardize and modularize the software of automotive electronic systems. Specifically, the AUTOSAR architecture is mainly divided into three levels, namely the application layer (Application Layer, ASW), the runtime environment (Runtime Environment, RTE), and the basic software layer (Basic Software, BSW).

[0036] Specifically, the application layer is the top layer of the AUTOSAR architecture. In this embodiment, according to the functional characteristics of the application layer, the application layer is divided into multiple software components (SWCs). Each SWC is responsible for implementing a specific functional module, such as power train control, thermal management, fault diagnosis, etc. The SWCs communicate with each other through ports, and the ports define the input and output interfaces of the data.

[0037] Specifically, the runtime environment is located between the application software layer and the basic software layer, acting as a bridge. The main functions of the runtime environment include: communication management, task scheduling, and hardware abstraction. Among them, communication management refers to the realization of data interaction between SWCs. Task scheduling refers to the scheduling and execution of management tasks to ensure that the SWC running entity (Runnable) can be scheduled at a predetermined time point. Hardware abstraction refers to providing an interface for the hardware abstraction layer to make the application layer software independent of the hardware platform.

[0038] Specifically, the basic software layer is the bottom layer of the AUTOSAR architecture, responsible for providing basic services and hardware abstraction. For example, the basic software layer can be further subdivided into several sublayers, including: Services Layer, ECU Abstraction Layer, Microcontroller Abstraction Layer (MCAL) and Complex Drivers (CDD).

[0039] It can be understood that the AUTOSAR architecture achieves the decoupling of software and hardware through layered design, and improves the portability and reusability of software. The application layer is responsible for implementing specific functional modules, the runtime environment provides communication and task scheduling services, and the basic software layer provides abstraction and basic services of the underlying hardware. This layered architecture not only simplifies the software development process, but also improves the reliability and maintainability of the system.

[0040] Among them, the vehicle and transmission controller (VTCU controller) is a key electronic control unit (ECU) used to manage the vehicle power system and transmission in modern cars. It plays a vital role in the vehicle's power transmission, driving performance optimization, and fuel economy. The main function of the VTCU controller is to coordinate the vehicle's power system and transmission to ensure that the vehicle can operate efficiently and smoothly under different working conditions.

[0041] For example, the VTCU controller in this application can adopt the TC275 chip, which has three cores. In addition, the VTCU controller in this application is also suitable for the TC3XX series chips.

[0042] In this embodiment, the main optimization goal of the AUTOSAR-based VTCU controller is to reduce the CPU load rate. The AUTOSAR-based VTCU controller task allocation method mainly includes: application layer SWC division, RTE related module configuration and code generation, RTAOS related module configuration and code generation, Tasking software driver integration, and downloading the software driver to the VTCU controller through the upper computer UDE.

[0043] Specifically, step 101 includes: dividing the application layer into multiple software components according to the functional characteristics of the application layer, and generating application layer code; wherein, the application layer code includes an Arxml file corresponding to each software component.

[0044] Among them, a software component (SWC) is the basic building block of the application layer and is used to implement a specific functional module. An SWC is an independent software module responsible for implementing a specific function. It communicates and interacts with other SWCs or the basic software layer (BSW) through well-defined interfaces.

[0045] Optionally, in one example, the functional characteristics of the above application layer include but are not limited to: vehicle-level power chain, thermal management, high-voltage accessories, charging network gateway, shift lever, shift self-learning, shift execution, shift decision-making, fault detection, fault recording, inertial unit, GPS unit, power-on and power-off management, instrument management, input and output related to controller area network communication, input and output related to the VTCU controller hardware, and off-line detection.

[0046] It can be understood that dividing the application layer into multiple software components according to the functional characteristics of the application layer. For example, the application layer can be divided into 22 SWCs, which solves the problem of highly concentrated SWC algorithms, realizes the disassembly of application layer algorithms, and each SWC has a clear function.

[0047] In actual application, after dividing the application layer into multiple software components, an Arxml file corresponding to each software component is generated. These Arxml files are key files used to describe software components and their configurations in the AUTOSAR architecture. Among them, an Arxml file (AUTOSAR XML file) is an XML-based file format used to describe information such as software components (SWCs), basic software (BSW), hardware resources, and communication matrices in the AUTOSAR architecture. Arxml files are an important part of the AUTOSAR development process and are used for configuration and code generation.

[0048] In one example, the Arxml file corresponding to a software component includes: the port interface of the software component, the ports of the software component, the running entity information of the software component, and the connection relationship between the software component and other software components.

[0049] Specifically, step 102 includes: importing the application layer code into the configuration tool of the runtime environment to configure relevant modules of the runtime environment and generate runtime environment code.

[0050] Exemplarily, the configuration tool for the runtime environment can be ISOLAR-AB. In practical applications, the application layer code is imported into ISOLAR-AB, that is, the Arxml file corresponding to each SWC is imported into ISOLAR-AB, the relevant modules of the runtime environment (RTE) are configured, and the runtime environment code is generated.

[0051] In practical applications, according to the information provided by these Arxml files, the system data mapping related to Controller Area Network (CAN) communication can be configured, the Electronic Control Unit Configuration Value Collection (EcucValueCollection) can be configured and the system information can be extracted. It is also necessary to map the main functions of the relevant modules of the BSW and the running entities and tasks of each divided SWC.

[0052] In this embodiment, considering the CAN communication message sending and receiving cycle, the messages with the same cycle for sending and receiving are within the same SWC, which is convenient for cycle scheduling.

[0053] Optionally, in a possible implementation manner, step 102 described above includes: Import the application layer code into the ISOLAR-AB tool and configure the relevant modules of the runtime environment; among them, the relevant modules of the runtime environment include at least one of the following: ports and port interfaces, running entities, data access points, time events; Configure the system data mapping related to Controller Area Network communication according to the application layer code; Perform the configuration of the Electronic Control Unit Configuration Value Collection and extract the system information from the Electronic Control Unit Configuration Value Collection; among them, the system information includes: the configuration information of hardware resources, the configuration information of the communication matrix, the software components mapped to the electronic control unit and the running entities of the software components, the communication connection relationships between software components, the mapping relationships between software components and hardware resources, and the communication connection relationships between hardware resources; Map the main functions of the relevant modules of the basic software layer and the running entities and tasks of each software component; Generate the runtime environment code.

[0054] It can be understood that by configuring the relevant modules of the runtime environment (RTE), including ports and port interfaces, runnable entities, data access points, time events, etc., the task scheduling strategy can be optimized. This ensures that the system can execute tasks at the predetermined time points, improving the real-time performance and response speed of the system. By reasonably allocating tasks and optimizing the scheduling strategy, the load rate of the CPU is significantly reduced, further improving the performance of the system. Through the EcucValueCollection configuration and system information extraction, the correctness and consistency of the system configuration are ensured. This helps to meet the functional safety standards of the automotive industry and improve the reliability of the system. By generating the runtime environment code with the ISOLAR-AB tool, the workload of manually writing code is reduced, and the development efficiency and code quality are improved.

[0055] Specifically, step 103 includes: configuring periodic tasks and related modules of the periodic tasks through the configuration tool of the real-time automotive operating system according to the functional characteristics of the runnable entities of each software component, and generating the real-time automotive operating system code.

[0056] Among them, the runnable entities of software components (SWCs) are code segments that implement specific functions. They are the execution units inside the SWCs, responsible for executing specific tasks or functions. The runnable entity is the basic unit for the SWC to interact with the runtime environment (RTE) and is also the basic unit for task scheduling. By configuring the execution period and task mapping of the runnable entity, the task scheduling of the system can be optimized, improving the real-time performance and response speed of the system. The runnable entity is an important foundation for the development of modern automotive electronic systems, ensuring the efficient operation and modular design of the system.

[0057] In practical applications, each SWC has a corresponding runnable entity. According to the functional characteristics of the runnable entities of each software component, the corresponding execution period is set, and the periodic tasks on each core are configured in the RTAOS. For example, 1ms, 5ms, 10ms, 50ms, 100ms, 200ms, 500ms, and 1000ms tasks. Then, the runnable entities of each SWC are mapped into the appropriate periodic tasks.

[0058] In addition, corresponding modules such as interrupts, system clocks, counters, scheduling tables, application layers, etc. also need to be configured in the RTAOS. Exemplarily, 15 interrupts are configured in this embodiment for STM timing, obtaining ADC conversion results, capturing the period and duty cycle of the position sensor input signal, and capturing the period and duty cycle of the PWM input signal. The system clock frequency is 100 MHz, and the counter is adapted to the system clock. The number of scheduling tables is the same as the number of TC275 chip cores on the VTCU controller, used to schedule each periodic task, and the configuration of the application layer is adapted to the scheduling table.

[0059] Optionally, in a possible implementation manner, step 103 above includes: Determine the running period of the running entity of each software component according to the functional characteristics of the running entity of each software component; Configure multiple periodic tasks through a real-time automotive operating system, and the period durations of the multiple periodic tasks are different; According to the running period of the running entity of each software component, allocate the running entity of each software component to the corresponding periodic task; Configure interrupts, scheduling tables, application layer modules, system clocks, and timers in the real-time automotive operating system; Generate real-time automotive operating system code.

[0060] In this implementation manner, by configuring a suitable running period for each running entity and allocating it to the corresponding periodic task, the system can schedule tasks more efficiently. This ensures that time-sensitive tasks can be executed in a timely manner, thereby improving the real-time performance and response speed of the system. Reasonably allocating tasks to tasks with different periods reduces interference and waiting time between tasks, further reducing the system latency. By allocating running entities to tasks with different periods, it is avoided that all tasks are executed in the same task, thereby reducing the CPU load rate. Reasonably allocating tasks to tasks with different periods enables more balanced utilization of CPU resources and improves the overall efficiency of the system. By configuring interrupts, the system can respond to external events in a timely manner to ensure the stable operation of the system. Through the RTAOS configuration tool, the scheduling table and task allocation logic are automatically generated, reducing the workload of manually writing code and improving the development efficiency.

[0061] Further, step 104 includes: integrating the application layer code, runtime environment code, and real-time automotive operating system code into the Tasking project and generating an executable file.

[0062] Among them, the Tasking project refers to the process of software development and compilation using the Tasking compiler and development toolchain. Tasking provides a complete set of toolchains for developing, compiling, linking, and debugging embedded system software, especially in automotive electronic control systems.

[0063] In practical applications, ISOLAR-AB generates software driver programs for BSW and RTE-related modules. The software driver program for the BSW-related module is used to implement functions such as fault diagnosis, fault storage, power-on and power-off management, and control related to CAN communication and Xcp communication. The software driver program for the RTE-related module provides various port communication functions to implement various data reception / transmission interactions between the application layer and BSW and complex drivers. RTAOS generates software driver programs related to the scheduling table, interrupts, and periodic tasks.

[0064] In addition, the software driver programs integrated in the Tasking project also include the configuration driver for the MCAL-related module, complex driver programs, software driver programs generated by the application layer model, and the GLIWA T1 software driver program. The configuration driver for the MCAL-related module is adapted to the hardware of the TC275 chip on the VTCU controller; the complex driver programs are used to implement various interrupt service functions, Spi communication between the TC275 chip on the VTCU controller and peripheral chips, etc.; the software driver programs generated by the application layer model implement the specific functions of each SWC running entity; the GLIWA T1 software driver program realizes the communication between the VTCU controller and the GLIWA T1 host computer according to the two frames of received and transmitted messages reserved in CAN communication.

[0065] Optionally, in a possible implementation manner, generating the executable file in step 104 includes: Compiling the executable file to generate an ELF file and a HEX file.

[0066] Among them, the ELF file (Executable and Linkable Format) is a standard executable file format widely used in development and debugging, supporting symbolic debugging and dynamic linking. It can be directly loaded and executed by the operating system.

[0067] Among them, the HEX file (Intel Hexadecimal Object File Format) is a text-format file used to store the binary data and address information of the program, widely used in hardware burning and program backup. It has universality and checksum verification functions.

[0068] Step 105: Download the executable file to the vehicle and transmission controllers through UDE, and run the executable file.

[0069] Optionally, in a possible implementation manner, step 105 specifically includes: Download the ELF file to the vehicle and transmission controllers through the UDE host computer, and run the executable file.

[0070] Among them, the host computer refers to a computer system used to control and manage target hardware in the development and testing of embedded systems. It usually runs specialized software tools for developing, debugging, testing, and monitoring embedded systems. The host computer communicates with the target hardware through specific interfaces (such as USB, CAN, JTAG, SWD, etc.).

[0071] The UDE host computer is a powerful hardware debugging tool widely used in the development of embedded systems. By connecting to the target hardware (such as ECU), it provides comprehensive debugging functions, supporting code download, breakpoint setting, single-step execution, variable monitoring, etc.

[0072] In addition, in a possible implementation manner, after the above step 105, the method further includes: Monitor the CPU load rate of each core in the vehicle and transmission controller through the GLIWA T1 host computer. The GLIWA T1 host computer is connected to the transmission controller through U2C.

[0073] Among them, the GLIWA T1 host computer is a host computer tool for real-time monitoring and analysis of the operating status of embedded systems. By connecting to the target hardware (such as ECU), it can monitor the operating data of the system in real time and analyze information such as CPU load rate, task scheduling, and communication data.

[0074] Among them, U2C (USB to CAN) is an interface converter used to connect devices with USB interfaces (such as host computers and debuggers) to the vehicle's CAN bus network. It allows developers to communicate with the vehicle's CAN bus through the USB interface to send and receive data.

[0075] In this implementation manner, by monitoring the CPU load rate of each core in the vehicle and transmission controller through the GLIWA T1 host computer, potential failures caused by excessive load can be detected in a timely manner, the load balance of each core can be ensured, the system instability caused by excessive load on a single core can be avoided, and then the task scheduling can be optimized and the task priorities can be adjusted, thereby improving the overall performance and response speed of the system.

[0076] In the method for task allocation of the VTCU controller based on AUTOSAR provided in this embodiment, by dividing the application layer into multiple software components with clear functions, complex tasks can be decomposed into multiple small tasks, reducing the computational burden of a single task. Each software component has a clear function, which facilitates subsequent allocation to an appropriate task cycle according to its functional characteristics, further optimizing task scheduling. By generating the Arxml file and application layer code, the amount of code for manually writing trigger conditions is reduced, the error probability is lowered, and at the same time, memory space is saved. Further, according to the running cycle characteristics of the software components, tasks are allocated to different periodic tasks, avoiding concentration in the 10ms task of core 0. Further, the periodic tasks and related modules of the periodic tasks are configured through the configuration tool of the real-time automotive operating system, and the real-time automotive operating system code is generated, rationally utilizing the computing power of the multi-core processor. Further, the executable file is downloaded to the vehicle and transmission controller through UDE, and the executable file is run, reducing the amount of code for manually writing trigger conditions, lowering the error probability, and saving memory space. Therefore, the solution of this embodiment effectively reduces the load rate of the CPU and improves the operating efficiency of the VTCU controller software driver.

[0077] The following describes the device for task allocation of the VTCU controller based on AUTOSAR provided by the present invention. The device for task allocation of the VTCU controller based on AUTOSAR described below can be correspondingly referred to with the method for task allocation of the VTCU controller based on AUTOSAR described above.

[0078] Figure 2 is a schematic structural diagram of the device for task allocation of the VTCU controller based on AUTOSAR provided by the present invention. As Figure 2 shown, the device for task allocation of the VTCU controller based on AUTOSAR includes: a division module 21, a first configuration module 22, a second configuration module 23, an integration module 24, and a running module 25.

[0079] The division module 21 is configured to divide the application layer into multiple software components according to the functional characteristics of the application layer, and generate application layer code; wherein, the application layer code includes the Arxml file corresponding to each software component.

[0080] The first configuration module 22 is configured to import the application layer code into the configuration tool of the runtime environment to configure the related modules of the runtime environment, and generate runtime environment code.

[0081] The second configuration module 23 is configured to configure the periodic tasks and related modules of the periodic tasks through the configuration tool of the real-time automotive operating system according to the functional characteristics of the running entities of each software component, and generate real-time automotive operating system code.

[0082] An integration module 24 for integrating application layer code, runtime environment code, and real-time automotive operating system code into a Tasking project and generating an executable file.

[0083] An operation module 25 for downloading the executable file to the vehicle and transmission controllers via UDE and running the executable file.

[0084] Specifically, a partitioning module 21 for partitioning the application layer into multiple software components according to the functional characteristics of the application layer and generating application layer code; wherein the application layer code includes Arxml files corresponding to each software component.

[0085] Among them, a software component (SWC) is the basic building block of the application layer and is used to implement specific functional modules. An SWC is an independent software module responsible for implementing a specific function. It communicates and interacts with other SWCs or the basic software layer (BSW) through well-defined interfaces.

[0086] Optionally, in a possible implementation, the above-mentioned functional characteristics of the application layer include but are not limited to: vehicle-level power train, thermal management, high-voltage accessories, power grid gateway, shift lever, shift self-learning, shift execution, shift decision-making, fault detection, fault recording, inertial unit, GPS unit, power-on / off management, instrument management, input / output related to controller area network communication, input / output related to VTCU controller hardware, and off-line detection.

[0087] It can be understood that according to the functional characteristics of the application layer, the application layer is partitioned into multiple software components. Exemplarily, the application layer can be partitioned into 22 SWCs, which solves the problem of highly concentrated SWC algorithms, realizes the disassembly of application layer algorithms, and each SWC has a clear function.

[0088] In practical applications, after the partitioning module 21 partitions the application layer into multiple software components, Arxml files corresponding to each software component are generated. These Arxml files are key files in the AUTOSAR architecture for describing software components and their configurations. Among them, an Arxml file (AUTOSAR XML file) is an XML-based file format used to describe information such as software components (SWCs), basic software (BSW), hardware resources, and communication matrices in the AUTOSAR architecture. Arxml files are an important part of the AUTOSAR development process and are used for configuration and code generation.

[0089] In one example, the Arxml file corresponding to a software component includes: the port interface of the software component, the ports of the software component, the running entity information of the software component, and the connection relationship between the software component and other software components.

[0090] Specifically, the first configuration module 22 is used to import application layer code into the configuration tool of the runtime environment to configure relevant modules of the runtime environment and generate runtime environment code.

[0091] Exemplarily, the configuration tool of the runtime environment can be ISOLAR-AB. In actual application, importing the application layer code into ISOLAR-AB means importing the Arxml file corresponding to each SWC into ISOLAR-AB, configuring relevant modules of the runtime environment (RTE), and generating runtime environment code.

[0092] In actual application, according to the information provided by these Arxml files, the system data mapping related to Controller Area Network (CAN) communication can be configured, the Electronic Control Unit Configuration Value Collection (EcucValueCollection) can be configured and system information can be extracted. It is also necessary to map the main functions of relevant modules of the BSW and the running entities and tasks of each divided SWC.

[0093] In this embodiment, considering the CAN communication message sending and receiving cycle, the messages with the same cycle are within the same SWC, which is convenient for cycle scheduling.

[0094] Optionally, in a possible implementation manner, the above-mentioned first configuration module 22 is specifically used for: Importing the application layer code into the ISOLAR-AB tool to configure relevant modules of the runtime environment; wherein, the relevant modules of the runtime environment include at least one of the following: ports and port interfaces, running entities, data access points, time events; Configuring the system data mapping related to Controller Area Network communication according to the application layer code; Performing the Electronic Control Unit Configuration Value Collection configuration and extracting system information from the Electronic Control Unit Configuration Value Collection; wherein, the system information includes: configuration information of hardware resources, configuration information of communication matrices, software components mapped to the electronic control unit and the running entities of the software components, communication connection relationships between software components, mapping relationships between software components and hardware resources, and communication connection relationships between hardware resources; Mapping the main functions of relevant modules of the basic software layer and the running entities and tasks of each software component; Generating runtime environment code.

[0095] It is understandable that by configuring relevant modules of the runtime environment (RTE), including ports and port interfaces, running entities, data access points, time events, etc., the task scheduling strategy can be optimized. This ensures that the system can execute tasks at the predetermined time points, improving the real-time performance and response speed of the system. By reasonably allocating tasks and optimizing the scheduling strategy, the CPU load rate is significantly reduced, further improving the system performance. Through EcucValueCollection configuration and system information extraction, the correctness and consistency of the system configuration are ensured. This helps to meet the functional safety standards of the automotive industry and improve the reliability of the system. By generating the runtime environment code with the ISOLAR-AB tool, the workload of manual code writing is reduced, and the development efficiency and code quality are improved.

[0096] Specifically, the second configuration module 23 is used to configure periodic tasks and related modules of periodic tasks through the configuration tool of the real-time automotive operating system according to the functional characteristics of the running entities of each software component, and generate the real-time automotive operating system code.

[0097] Among them, the running entity (Runnable) of a software component (SWC) is a code segment that implements specific functions. They are the execution units inside the SWC, responsible for executing specific tasks or functions. The running entity is the basic unit for the SWC to interact with the runtime environment (RTE), and also the basic unit for task scheduling. By configuring the execution period and task mapping of the running entity, the task scheduling of the system can be optimized, improving the real-time performance and response speed of the system. The running entity is an important foundation for the development of modern automotive electronic systems, ensuring the efficient operation and modular design of the system.

[0098] In practical applications, each SWC has a corresponding running entity. According to the functional characteristics of the running entities of each software component, the corresponding running period is set, and the periodic tasks on each core are configured in the RTAOS. For example, 1ms, 5ms, 10ms, 50ms, 100ms, 200ms, 500ms, and 1000ms tasks. Then, the running entities of each SWC are mapped into the appropriate periodic tasks.

[0099] In addition, corresponding modules such as interrupts, system clocks, counters, scheduling tables, and application layers also need to be configured in the RTAOS. Exemplarily, 15 interrupts are configured in this embodiment for STM timing, obtaining ADC conversion results, capturing the period and duty cycle of the position sensor input signal, and capturing the period and duty cycle of the PWM input signal. The system clock frequency is 100MHz, and the counter is adapted to the system clock. The number of scheduling tables is consistent with the number of TC275 chip cores on the VTCU controller, used to schedule each periodic task, and the configuration of the application layer is adapted to the scheduling table.

[0100] Optionally, in a possible implementation, the above-mentioned second configuration module 23 is specifically configured to: Determine the running period of the running entity of each software component according to the functional characteristics of the running entity of each software component; Configure multiple periodic tasks through a real-time automotive operating system, and the period durations of the multiple periodic tasks are different; According to the running period of the running entity of each software component, allocate the running entity of each software component to the corresponding periodic task; Configure interrupts, scheduling tables, application layer modules, system clocks, and timers in the real-time automotive operating system; Generate real-time automotive operating system code.

[0101] In this implementation, by configuring a suitable running period for each running entity and allocating it to the corresponding periodic task, the system can schedule tasks more efficiently. This ensures that time-sensitive tasks can be executed in a timely manner, thereby improving the real-time performance and response speed of the system. Reasonably allocating tasks to tasks with different periods reduces interference and waiting time between tasks, further reducing the system latency. By allocating running entities to tasks with different periods, it is avoided that all tasks are executed in the same task, thereby reducing the CPU load rate. Reasonably allocating tasks to tasks with different periods enables more balanced utilization of CPU resources and improves the overall efficiency of the system. By configuring interrupts, the system can respond to external events in a timely manner to ensure the stable operation of the system. Through the RTAOS configuration tool, the scheduling table and task allocation logic are automatically generated, reducing the workload of manual code writing and improving the development efficiency.

[0102] Specifically, the integration module 24 is used to integrate the application layer code, runtime environment code, and real-time automotive operating system code into the Tasking project and generate an executable file.

[0103] Among them, the Tasking project refers to the process of software development and compilation using the Tasking compiler and development toolchain. Tasking provides a complete set of toolchains for developing, compiling, linking, and debugging embedded system software, especially in automotive electronic control systems.

[0104] In practical applications, ISOLAR-AB generates software driver programs for BSW- and RTE-related modules. The software driver program for BSW-related modules is used to implement functions such as fault diagnosis, fault storage, power-on and power-off management, and control related to CAN communication and Xcp communication. The software driver program for RTE-related modules provides various port communication functions to implement various data reception / transmission interactions between the application layer and BSW and complex drivers. RTAOS generates software driver programs related to the scheduling table, interrupts, and periodic tasks.

[0105] In addition, the software driver programs integrated in the Tasking project also include the configuration driver for MCAL-related modules, complex driver programs, software driver programs generated by the application layer model, and GLIWA T1 software driver programs. The configuration driver for MCAL-related modules is adapted to the hardware of the TC275 chip on the VTCU controller; the complex driver programs are used to implement various interrupt service functions, Spi communication between the TC275 chip on the VTCU controller and peripheral chips, etc.; the software driver programs generated by the application layer model implement the specific functions of each SWC running entity; the GLIWA T1 software driver program realizes the communication between the VTCU controller and the GLIWA T1 host computer according to the two frames of received and transmitted messages reserved in CAN communication.

[0106] Optionally, in a possible implementation manner, when the above integrated module 24 is used to generate an executable file, it is specifically used for: Compiling the executable file to generate an ELF file and a HEX file.

[0107] Specifically, the running module 25 is used to download the executable file to the vehicle and transmission controllers through UDE and run the executable file.

[0108] Optionally, in a possible implementation manner, the above running module 25 is specifically used for: Downloading the ELF file to the vehicle and transmission controllers through the UDE host computer and running the executable file.

[0109] In addition, in a possible implementation manner, the above device further includes: A monitoring module, which is used to monitor the CPU load rate of each core in the vehicle and transmission controllers through the GLIWA T1 host computer. The GLIWA T1 host computer is connected to the transmission controller through U2C.

[0110] In this embodiment, by monitoring the CPU load rates of each core in the vehicle and transmission controllers through the GLIWA T1 host computer, potential faults caused by excessive load can be detected in a timely manner, the load balance of each core can be ensured, system instability caused by excessive load on a single core can be avoided, and thus task scheduling can be optimized and task priorities can be adjusted, thereby improving the overall performance and response speed of the system.

[0111] The AUTOSAR-based VTCU controller task allocation device provided in this embodiment can decompose complex tasks into multiple small tasks by dividing the application layer into multiple software components with clear functions, reducing the computing burden of a single task. Each software component has a clear function, facilitating subsequent allocation to a suitable task cycle according to its functional characteristics, and further optimizing task scheduling. By generating Arxml files and application layer code, the amount of code for manually writing trigger conditions is reduced, the error probability is lowered, and at the same time, memory space is saved. Further, according to the running cycle characteristics of the software components, tasks are allocated to different periodic tasks, avoiding concentration in the 10ms tasks of core 0. Further, the periodic tasks and related modules of the periodic tasks are configured through the configuration tool of the real-time automotive operating system, and real-time automotive operating system code is generated, rationally utilizing the computing power of the multi-core processor. Further, the executable file is downloaded to the vehicle and transmission controllers through UDE, and the executable file is run, reducing the amount of code for manually writing trigger conditions, lowering the error probability, and saving memory space. Therefore, the solution of this embodiment effectively reduces the CPU load rate and improves the running efficiency of the VTCU controller software driver.

[0112] Figure 3 is a schematic structural diagram of the electronic device provided by the present invention, as Figure 3As shown in the figure, the electronic device may include: a processor 310, a communications interface 320, a memory 330, and a communication bus 340. Among them, the processor 310, the communications interface 320, and the memory 330 complete communication with each other through the communication bus 340. The processor 310 may call the logical instructions in the memory 330 to execute the AUTOSAR-based VTCU controller task allocation method, and this method includes: dividing the application layer into multiple software components according to the functional characteristics of the application layer, and generating application layer code; among them, the application layer code includes the Arxml file corresponding to each software component. Import the application layer code into the configuration tool of the runtime environment to configure the relevant modules of the runtime environment and generate runtime environment code. Configure the periodic tasks and the relevant modules of the periodic tasks through the configuration tool of the real-time automotive operating system according to the functional characteristics of the running entities of each software component, and generate real-time automotive operating system code. Integrate the application layer code, the runtime environment code, and the real-time automotive operating system code into the Tasking project and generate an executable file. Download the executable file to the vehicle and transmission controller through UDE and run the executable file.

[0113] In addition, when the logical instructions in the above-mentioned memory 330 can be implemented in the form of software functional units and sold or used as an independent product, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0114] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the AUTOSAR-based VTCU controller task allocation method provided by the above-mentioned various methods. The method includes: dividing the application layer into multiple software components according to the functional characteristics of the application layer, and generating application layer code; wherein, the application layer code includes Arxml files corresponding to each software component. Importing the application layer code into the configuration tool of the runtime environment to configure relevant modules of the runtime environment, and generating runtime environment code. Configuring periodic tasks and relevant modules of the periodic tasks through the configuration tool of the real-time automotive operating system according to the functional characteristics of the running entities of each software component, and generating real-time automotive operating system code. Integrating the application layer code, runtime environment code, and real-time automotive operating system code into a Tasking project, and generating an executable file. Downloading the executable file to the vehicle and transmission controller through UDE, and running the executable file.

[0115] In another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is implemented to execute the AUTOSAR-based VTCU controller task allocation method provided by the above-mentioned various methods. The method includes: dividing the application layer into multiple software components according to the functional characteristics of the application layer, and generating application layer code; wherein, the application layer code includes Arxml files corresponding to each software component. Importing the application layer code into the configuration tool of the runtime environment to configure relevant modules of the runtime environment, and generating runtime environment code. Configuring periodic tasks and relevant modules of the periodic tasks through the configuration tool of the real-time automotive operating system according to the functional characteristics of the running entities of each software component, and generating real-time automotive operating system code. Integrating the application layer code, runtime environment code, and real-time automotive operating system code into a Tasking project, and generating an executable file. Downloading the executable file to the vehicle and transmission controller through UDE, and running the executable file.

[0116] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative labor.

[0117] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0118] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A task allocation method for a VTCU controller based on AUTOSAR, characterized in that, Including: Dividing the application layer into multiple software components according to the functional characteristics of the application layer, and generating application layer code; wherein, the application layer code includes an Arxml file corresponding to each software component. Importing the application layer code into the configuration tool of the runtime environment to configure relevant modules of the runtime environment, and generating runtime environment code. Configuring periodic tasks and relevant modules of the periodic tasks through the configuration tool of the real-time automotive operating system according to the functional characteristics of the running entities of each software component, and generating real-time automotive operating system code. Integrating the application layer code, the runtime environment code, and the real-time automotive operating system code into a Tasking project, and generating an executable file. Downloading the executable file to the vehicle and transmission controller through UDE, and running the executable file.

2. The method for task allocation of the AUTOSAR-based VTCU controller according to claim 1, wherein After downloading the executable file to the vehicle and transmission controller through UDE and running the executable file, the method further includes: Monitoring the CPU load rate of each core in the vehicle and transmission controller through the GLIWA T1 host computer, and the GLIWA T1 host computer is connected to the transmission controller through U2C.

3. The method for task allocation of the AUTOSAR-based VTCU controller according to claim 1, wherein The importing the application layer code into the configuration tool of the runtime environment to configure relevant modules of the runtime environment includes: Importing the application layer code into the ISOLAR-AB tool to configure relevant modules of the runtime environment; wherein, the relevant modules of the runtime environment include at least one of the following: ports and port interfaces, running entities, data access points, time events. Configuring the system data mapping related to controller area network communication according to the application layer code. Performing the configuration of the electronic control unit configuration value set and extracting system information from the electronic control unit configuration value set; wherein, the system information includes: configuration information of hardware resources, configuration information of the communication matrix, software components mapped to the electronic control unit and the running entities of the software components, communication connection relationships between software components, mapping relationships between software components and hardware resources, and communication connection relationships between hardware resources. Mapping the main functions of the relevant modules of the basic software layer and the running entities of each software to tasks.

4. The method for task allocation of the AUTOSAR-based VTCU controller according to claim 1, wherein The configuring periodic tasks and relevant modules of the periodic tasks through the configuration tool of the real-time automotive operating system according to the functional characteristics of the running entities of each software component includes: Determining the running period of the running entity of each software component according to the functional characteristics of the running entity of each software component. Configuring multiple periodic tasks through the real-time automotive operating system, and the period durations of the multiple periodic tasks are different. Allocating the running entity of each software component to the corresponding periodic task according to the running period of the running entity of each software component. Configuring interrupts, scheduling tables, application layer modules, system clocks, and timers in the real-time automotive operating system.

5. The method for task allocation of the AUTOSAR-based VTCU controller according to claim 1, characterized in that The generating the executable file includes: Compiling the executable file to generate an ELF file and a HEX file.

6. The method for task allocation of the AUTOSAR-based VTCU controller according to claim 5, characterized in that Downloading the executable file to the vehicle and transmission controllers through UDE and running the executable file specifically includes: Downloading the ELF file to the vehicle and transmission controllers through the UDE host computer and running the executable file.

7. The method for task allocation of the AUTOSAR-based VTCU controller according to any one of claims 1-6, characterized in that, The software driver programs integrated in the Tasking project further include the configuration drivers of relevant modules in the microcontroller abstraction layer, complex driver programs, software driver programs for generating application layer models, and GLIWA T1 software driver programs.

8. The method for task allocation of the AUTOSAR-based VTCU controller according to any one of claims 1-6, characterized in that The functional characteristics of the application layer include: power train, thermal management, high-voltage accessories, power conversion gateway, shift lever, shift self-learning, shift execution, shift decision-making, fault detection, fault recording, inertial unit, GPS unit, power-on / off management, instrument management, input / output related to controller area network communication, input / output related to the VTCU controller hardware, and off-line detection at the vehicle level.

9. An AUTOSAR-based VTCU controller task allocation device, characterized in that, Including: A partitioning module for partitioning the application layer into multiple software components according to the functional characteristics of the application layer and generating application layer code; wherein, the application layer code includes Arxml files corresponding to each software component. A first configuration module for importing the application layer code into the configuration tool of the runtime environment to configure relevant modules of the runtime environment and generate runtime environment code. A second configuration module for configuring periodic tasks and relevant modules of the periodic tasks through the configuration tool of the real-time automotive operating system according to the functional characteristics of the running entities of each software component and generating real-time automotive operating system code. An integration module for integrating the application layer code, the runtime environment code, and the real-time automotive operating system code into the Tasking project and generating an executable file. A running module for downloading the executable file to the vehicle and transmission controllers through UDE and running the executable file.

10. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and running on the processor, wherein, When the processor executes the computer program, it implements the AUTOSAR-based VTCU controller task allocation method according to any one of claims 1 to 8.

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