System, method and equipment for realizing DDS communication based on AUTOSAR
By introducing the DDS module into CP AUTOSAR and performing data verification, the problem of immature DDS integration was solved, achieving hardware resource saving and performance improvement.
Patent Information
- Application Number
- CN202410919019.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-09
- Publication Date
- 2026-01-16
AI Technical Summary
Existing technologies have not yet matured the integration of the DDS protocol into CP AUTOSAR, resulting in high hardware resource consumption and poor performance.
In CP AUTOSAR, a DDS module is introduced, which interacts with AUTOSAR through the PduR module to add DDS specification information. The DDS specification information is generated when data is published and verified when data is subscribed, and data that fails verification is discarded.
It achieves compatibility of DDS in CP AUTOSAR, reduces hardware resource consumption, and improves communication performance.
Smart Images
Figure CN121357201A_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of vehicle management technology, and in particular to a system, method and device for implementing DDS communication based on AUTOSAR. Background Technology
[0002] Automotive Open System Architecture (AUTOSAR) is a standard protocol jointly established by major global automotive OEMs, component suppliers, and automotive electronics software companies. This protocol specifies an open and standardized software architecture suitable for automotive electronic software development. The initial AUTOSAR specification only considered traditional automotive electronic architectures, providing defined functions based on scenarios with limited hardware computing power. This is what is commonly referred to as Classic AUTOSAR, or CP AUTOSAR for short. The "AUTOSAR" mentioned in various technical documents generally refers specifically to CP AUTOSAR. Currently, the vast majority of manufacturers worldwide develop software based on the AUTOSAR architecture.
[0003] As vehicles rapidly evolve towards intelligence, various intelligent connected vehicle technologies and autonomous driving technologies are iterating quickly, leading to an explosive growth in the number of devices on vehicles and increasingly powerful software requirements. Distributed automotive electronic and electrical architectures are gradually evolving towards functional domain-centralized or centralized architectures. The traditional AUTOSAR specification is no longer suitable for the current development of vehicle electronics. Therefore, the adaptive automotive open system architecture has emerged. AP AUTOSAR is primarily used to host intelligent software modules, deployed on hardware resources with greater computing power. However, due to limited hardware capabilities, some sensors, actuators, and other functional devices deployed on vehicles still require the CP AUTOSAR software architecture.
[0004] Data Distribution Service (DDS) is a data distribution service for real-time systems. It is a middleware technology used to transmit and distribute data in distributed systems. DDS provides an efficient, reliable, and real-time data transmission mechanism, enabling data exchange and sharing between different computer nodes, and is therefore of great interest to the automotive industry.
[0005] AP AUTOSAR devices based on Adaptive AUTOSAR (i.e., AP AUTOSAR) can communicate using DDS. To support the use of DDS, specifications for DDS software modules have been added to the CP AUTOSAR standard and architecture. However, current technology is not yet mature, and it only involves porting relevant software code from other platforms such as AP AUTOSAR without considering the characteristics of the CP platform itself, resulting in poor performance.
[0006] Therefore, there is a need for a solution that can integrate the DDS protocol into CP AUTOSAR with low hardware resource consumption and high performance. Summary of the Invention
[0007] This disclosure was made to solve the above-mentioned problems, and its purpose is to provide a system, method and device for realizing DDS communication based on AUTOSAR, which can integrate DDS into the CP AUTOSAR software architecture while minimizing hardware resource consumption.
[0008] According to one aspect of this disclosure, a system for implementing DDS communication based on AUTOSAR is provided, comprising: a DDS module and AUTOSAR, wherein the AUTOSAR includes an SWC module, an RTE module, a COM / LDCOM module, and a PduR module. The DDS module interacts with the AUTOSAR through the PduR module. During data publishing, the DDS module adds the required information of the DDS specification to the publishing data received from the PduR module to generate DDS specification information, and then sends the DDS specification information to the communication bus via the PduR module for transmission. During data subscription, the DDS module verifies the subscription data received from the PduR module using the rules specified in the DDS specification. If the verification passes, the subscription data is sent to the upper layer again via the PduR module; if the verification fails, the subscription data is discarded.
[0009] Preferably, the DDS module adds the required information for the DDS specification, including topic information, quality of service (QoS) policy, and participant ID.
[0010] Preferably, the information required for the DDS specification added by the DDS module is obtained through parameter configuration.
[0011] Preferably, the entities for the quality of service strategy include entities using static configuration and entities using dynamic configuration, wherein the static configuration is fixed in the software, and the dynamic configuration can be modified in real time.
[0012] Preferably, the static configuration is stored in a static structure.
[0013] Preferably, the dynamic configuration is modified by calling a preset interface.
[0014] Preferably, the DDS module is deployed in the base software layer (BSW) of the AUTOSAR.
[0015] Preferably, the initialization of the DDS module is performed by the basic software layer, and is performed after the bus initialization is completed.
[0016] According to another aspect of this disclosure, a method for implementing DDS communication based on AUTOSAR is provided. The method is applied to a system implementing DDS communication based on AUTOSAR, the system comprising: a DDS module and AUTOSAR, wherein the AUTOSAR includes an SWC module, an RTE module, a COM / LDCOM module, and a PduR module, the DDS module being deployed in the base software layer (BSW) of the AUTOSAR, the method comprising: during data publishing, the SWC module calling an interface in the RTE module to map the SWC signal to the COM / LDCOM module, the COM / LDCOM module... The LDCOM module sends the SWC signal to the PduR module and generates publication data. The DDS module receives the publication data from the PduR module, adds the information required by the DDS specification to the publication data, generates DDS specification information, and then sends the DDS specification information to the communication bus via the PduR module for transmission. During data subscription, the DDS module receives subscription data via the PduR module and verifies the subscription data using the rules specified in the DDS specification. If the verification passes, the subscription data is sent to the upper layer again via the PduR module; if the verification fails, the subscription data is discarded.
[0017] According to another aspect of this disclosure, an electronic device is provided, the electronic device including a processor and a memory, the memory storing at least one instruction or at least one program, the at least one instruction or the at least one program being loaded by the processor and executing the method described in one aspect above.
[0018] According to another aspect of this disclosure, a computer storage medium is provided, the storage medium storing at least one instruction or at least one program, the at least one instruction or the at least one program being loaded by a processor and executing the method as described in one aspect above.
[0019] According to another aspect of this disclosure, a computer program product is provided, comprising at least one instruction or at least one program segment, said at least one instruction or said at least one program segment being loaded by a processor and executing the method as described in one aspect above. Attached Figure Description
[0020] Figure 1 This is a system architecture diagram of DDS communication based on AUTOSAR provided in the embodiments of this disclosure.
[0021] Figure 2 This is a transmission path diagram for data publishing provided in the embodiments of this disclosure.
[0022] Figure 3 This is a transmission path diagram for data subscription provided in this embodiment of the disclosure.
[0023] Figure 4 This is a flowchart of the data publishing process in the method for implementing DDS communication based on AUTOSAR provided in the embodiments of this disclosure.
[0024] Figure 5 This is a flowchart of the data subscription process in the method for implementing DDS communication based on AUTOSAR provided in the embodiments of this disclosure.
[0025] Figure 6 This is a structural block diagram of a computer device provided in an embodiment of this disclosure. Detailed Implementation
[0026] The present disclosure will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.
[0027] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. As used herein, the singular forms “a” and “the” are also intended to include the plural forms unless the context clearly indicates otherwise. It will also be understood that when the terms “comprising” and / or “made of” are used in this specification, the presence of the said feature, integral, step, operation, element, and / or component is specified, but the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof is not excluded.
[0028] Unless otherwise specified, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and this disclosure, and will not be interpreted as having an idealized or overly formal meaning, unless expressly so defined herein.
[0029] This disclosure provides a system, method, and device for implementing DDS communication based on AUTOSAR, which integrates DDS into the CP AUTOSAR software architecture, making DDS compatible with CP AUTOSAR.
[0030] The evolution of intelligent technology has significantly increased the importance of software in smart cars, giving rise to the concept of "software-defined vehicles." Correspondingly, this has created a strong demand for SOA (Service-Oriented Architecture), a concept originally from the IT field, making it a hot topic in the automotive industry. SOA requires automotive software to be designed with a "service" architecture. This means providing the capabilities offered by in-vehicle software and hardware (such as sensor data and actuator functions) as services. Advanced software functions on a smart car request these services, using the acquired information to implement advanced functions (such as path planning) or requesting actuators to perform specific actions (such as high beam control). This architecture helps achieve a loosely coupled service architecture, where each service or functional module does not interfere with others, and it also makes it easier to migrate functions to different hardware and software platforms, facilitating independent development.
[0031] Due to the coexistence of CP AUTOSAR and AP AUTOSAR in automotive electronic and electrical architectures, and the increasingly popular demand for service-oriented architectures, the CP AUTOSAR specification originally designed for traditional vehicles can no longer fully meet the needs of current vehicle electronic service-oriented architectures. This includes the issue of unified service-oriented communication between CP AUTOSAR and AP AUTOSAR, which this invention aims to address.
[0032] DDS is a next-generation distributed real-time communication middleware technology specification developed by the Object Management Group (OMG) based on standards such as HLA and CORBA. DDS adopts a publish / subscribe architecture, emphasizes data-centricity, provides rich QoS (Quality of Service) policies, and ensures real-time, reliable, and flexible data distribution, meeting the needs of various distributed real-time communication applications.
[0033] First, the system for implementing DDS communication based on AUTOSAR provided in the embodiments of this disclosure is introduced. Figure 1 This is a system architecture diagram of DDS communication based on AUTOSAR provided in the embodiments of this disclosure. The following is based on... Figure 1The overall architecture described herein provides a detailed explanation of the system architecture provided in this application embodiment. The system includes a DDS module and an Automotive Open System Architecture 10 (hereinafter referred to as AUTOSAR 10). AUTOSAR 10 includes a SWC (Software Component) module, an RTE (Runtime Environment) module, a COM (Communication) / LDCOM (Large Data Communication) module, and a PduR (Protocol Data Unit Router) module. The DDS module interacts with AUTOSAR 10 through the PduR module. The DDS module is deployed in the Base Software Layer (BSW) of AUTOSAR 10. Furthermore, the COM (Communication) / LDCOM (Large Data Communication) module and the PduR (Protocol Data Unit Router) module are also typically deployed within the BSW. The BSW provides various basic capabilities for the upper-layer software SWC, such as communication capabilities, memory management capabilities, hardware abstraction, and drivers. To enable communication, the SWC module needs to interact with the RTE module. The RTE module hands over the signals to the BSW for processing, and finally passes them to the network protocol stack for transmission. Signal reception is the reverse process, which will not be elaborated here.
[0034] The SWC module contains several SWCs, each implementing various specific functions.
[0035] The RTE module is the interface implementation of the virtual function bus in AUTOSAR, providing basic communication functions and supporting communication between software components and from software components to underlying software modules. The operation of SWCs requires the RTE to provide the runtime environment; it implements communication between internal SWCs and signal and scheduling connections between SWCs and BSWs.
[0036] The COM module provides basic communication services, connecting upwards to the RTE (Real-Time Equipment) and providing a signal interface for the RTE, and downwards to the PduR (Programmable Array Controller). Additionally, there is an LDCOM module for large data packet communication. This system's AUTOSAR 10 includes either a COM module or an LDCOM module.
[0037] The PduR module is located at the center of the AUTOSAR communication architecture, and within the BSW architecture, it routes data from various communication protocols to the corresponding protocol channels.
[0038] The data transmission path provided in this embodiment of the disclosure is as follows: Figure 2As shown. Specifically, the SWC module calls the interface in the RTE module to map the SWC signal to the COM / LDCOM module. The COM / LDCOM module then sends the SWC signal to the PduR module. The PduR module then fills the SWC signal into a PDU and sends the PDU as a message (publishing data) to the DDS module. It should be noted that this SWC signal is sent by the SWC module to the RTE module and is used to provide data to the DDS module.
[0039] The DDS module adds the necessary information for the DDS specification to the publication data received from the PduR module, generating the DDS specification information. The DDS module adds information such as topic information, Quality of Service (QoS) policy, and participant ID. This information can be obtained through parameter configuration.
[0040] In this embodiment, parameter configuration includes both static and dynamic configurations. Static configuration refers to the part fixed in the software, which cannot be changed without modifying the software program after configuration. Dynamic configuration, on the other hand, is configuration that can be modified in real time as needed. The dynamic configuration mainly concerns QoS (Quality of Service) configuration. Specifically, the QoS policy entity includes entities using static configuration and entities using dynamic configuration. Static configuration can be stored in a static structure, its runtime cannot be modified, and the interface for modifying the configuration is disabled. Dynamic configuration can be modified by calling preset interfaces in a manner conforming to the DDS protocol. The DDS module can poll to confirm whether the dynamic configuration has been modified; if modified, the modified dynamic configuration is adopted. Furthermore, a boolean variable can be used to distinguish between entities using static configuration and entities using dynamic configuration.
[0041] By distinguishing between dynamic and static configurations, system resource consumption can be greatly reduced, thereby optimizing system performance.
[0042] After generating the DDS specification information, the DDS module then transmits the DDS specification information to the communication bus 20 via the PduR module.
[0043] Figure 3 This is a transmission path diagram for data subscription provided in this embodiment. During data subscription, the communication bus 20 delivers the received message to the DDS module via PduR. The DDS module verifies the subscription data received from the PduR module using the rules specified in the DDS specification. If the verification passes, the subscription data is sent to the upper layer again via the PduR module; if the verification fails, the subscription data is discarded.
[0044] Furthermore, the DDS module is deployed in the Base Software Layer (BSW) of AUTOSAR 10. The initialization of the DDS module is performed by the BSW, and occurs after the communication bus initialization is complete. The DDS module initialization can be performed together with other service layer modules. This initialization initializes all global variables used and the caches used by the PDU according to the configuration (including dynamic and static configurations).
[0045] Figure 4 This is a flowchart illustrating the data publishing process in the AUTOSAR-based DDS communication method provided in this embodiment of the disclosure. The data publishing process in the AUTOSAR-based DDS communication method provided in this embodiment of the disclosure includes the following steps:
[0046] S101: The SWC module calls the interface in the RTE module to map the SWC signal to the COM / LDCOM module.
[0047] S102: The COM / LDCOM module sends the SWC signal to the PduR module and generates publication data. Specifically, the PduR module fills the SWC signal into a PDU and sends the PDU as a message (publication data) to the DDS module.
[0048] S103: The DDS module receives the publication data from the PduR module, adds the information required by the DDS specification to the publication data, and generates the DDS specification information.
[0049] S104: The DDS specification information is transmitted to the communication bus via the PduR module.
[0050] Figure 5 This is a flowchart illustrating the data subscription process in the method for implementing DDS communication based on AUTOSAR provided in this disclosure. The data subscription process in the method for implementing DDS communication based on AUTOSAR provided in this disclosure includes the following steps:
[0051] S201: The DDS module receives subscription data via the PduR module. Here, the PduR module first obtains the subscription data from the communication bus 20 and then sends the subscription data to the DDS module.
[0052] S202: Validate the subscription data using the rules specified in the DDS specification.
[0053] S203: If the verification is successful, the subscription data will be sent to the upper layer again via the PduR module; if the verification fails, the received data will be discarded.
[0054] The systems and methods described in the embodiments of this disclosure enable traditional embedded platform software to communicate using the DDS protocol. Furthermore, the software layer is decoupled from the communication method, allowing it to support various communication bus communication methods, not just Ethernet communication.
[0055] Figure 6 This is a structural block diagram of the computer device provided in the embodiments of this disclosure. Figure 4 As shown, this disclosure also provides a computer device 300, which includes a processor and a memory. The memory stores at least one instruction or at least one program, which is loaded by the processor and executes the methods described in the above embodiments.
[0056] This disclosure also provides a computer storage medium storing at least one instruction or at least one program, wherein the at least one instruction or at least one program is loaded by a processor and executes the methods described in the above embodiments.
[0057] Optionally, in this embodiment, the storage medium may be located at at least one of the multiple network servers in a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.
[0058] This disclosure also provides a computer program product, including at least one instruction or at least one program segment, characterized in that the at least one instruction or the at least one program segment is loaded by a processor and executes the method described in the above embodiments.
[0059] Those skilled in the art will recognize that the modules, units, and method steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of electronic hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in electronic hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can implement the described functions using different methods for each specific application, but such implementation should not be considered beyond the scope of this disclosure.
[0060] Although this disclosure has been described with reference to specific embodiments, those skilled in the art should recognize that the scope of the invention involved in this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalent features without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in this disclosure.
Claims
1. A system for implementing DDS communication based on AUTOSAR, characterized in that, The system comprises: a DDS module and an AUTOSAR, the AUTOSAR comprises a SWC module, an RTE module, a COM / LDCOM module, and a PduR module, the DDS module interacts with the AUTOSAR through the PduR module, when data is published, the DDS module adds information required by a DDS specification to the published data received from the PduR module, generates DDS specification information, and sends the DDS specification information to a communication bus again via the PduR module, when data is subscribed, the DDS module verifies the subscribed data received from the PduR module according to rules specified in the DDS specification, and if the verification is passed, sends the subscribed data to an upper layer again via the PduR module, and if the verification is not passed, discards the subscribed data.
2. The system of claim 1, wherein the information required by the DDS specification added by the DDS module comprises topic information, quality of service (QoS) policy, and participant ID.
3. The system of claim 2, wherein the information required by the DDS specification added by the DDS module is obtained through parameter configuration.
4. The system of claim 3, wherein entities of the quality of service policy comprise entities configured statically and entities configured dynamically, wherein the static configuration is fixed in software, and the dynamic configuration can be modified in real time.
5. The system of claim 4, wherein the static configuration is stored in a static structure.
6. The system of claim 4 or 5, wherein the dynamic configuration is modified by calling a preset interface.
7. The system of claim 4 or 5, wherein the DDS module is deployed in a basic software layer (BSW) in the AUTOSAR.
8. The system of claim 7, wherein initialization of the DDS module is performed by the basic software layer and after completion of bus initialization.
9. A method for implementing DDS communication based on AUTOSAR, characterized in that, The method is applied to a system for implementing DDS communication based on AUTOSAR, the system comprising a DDS module and an AUTOSAR, wherein the AUTOSAR comprises a SWC module, an RTE module, a COM / LDCOM module, and a PduR module, the DDS module is deployed in a basic software layer (BSW) in the AUTOSAR, and the method comprises: when data is published, the SWC module calls an interface in the RTE module, maps a SWC signal to the COM / LDCOM module, the COM / LDCOM module sends the SWC signal to the PduR module and generates published data, the DDS module receives the published data from the PduR module, adds information required by a DDS specification to the published data, generates DDS specification information, and sends the DDS specification information to a communication bus again via the PduR module; In the data subscription, the DDS module receives the subscription data via the PduR module, and verifies the subscription data by using the rules specified in the DDS specification. If the verification is passed, the subscription data is sent to the upper layer via the PduR module again. If the verification is not passed, the subscription data is discarded.
10. The method of claim 9, wherein the DDS module adds information required by the DDS specification, including topic information, quality of service (QoS) policy, and participant ID.
11. The method of claim 10, wherein the information required by the DDS specification added by the DDS module is obtained through parameter configuration.
12. The method of claim 11, wherein the entity of the quality of service policy includes an entity using static configuration and an entity using dynamic configuration, wherein the static configuration is fixed in the software, and the dynamic configuration can be modified in real time.
13. The method of claim 12, wherein the static configuration is stored in a static structure.
14. The method of claim 12 or 13, wherein the dynamic configuration is modified by calling a preset interface.
15. The system for implementing DDS communication based on AUTOSAR of claim 14, wherein initialization of the DDS module is performed by the basic software layer and is performed after completion of bus initialization. The computer device includes a processor and a memory, and the memory stores at least one instruction or at least one program, which is loaded and executed by the processor to perform the method of any one of claims 9 to 15. The storage medium stores at least one instruction or at least one program, which is loaded and executed by the processor to perform the method of any one of claims 9 to 15. The at least one instruction or the at least one program is loaded and executed by the processor to perform the method of any one of claims 9 to 15. 16. A computer device, comprising: 17. A computer-readable storage medium, characterized in that, 18. A computer program product comprising at least one instruction or at least one piece of program, characterized in that,