Configuration method of vehicle-mounted controller, vehicle and computer readable storage medium

Abstract

The invention provides a configuration method of a vehicle-mounted controller, a vehicle and a computer readable storage medium, and the configuration method of the vehicle-mounted controller comprises the steps: a domain controller determines target configuration information corresponding to a plurality of sub-controllers from all configuration information which is stored in the domain controller and carries calibration parameters of the sub-controllers, and respectively issuing the target configuration information corresponding to the plurality of sub-controllers to the plurality of sub-controllers. According to the method and the device, calibration parameter configuration can be carried out on the plurality of sub-controllers through the same domain controller, namely, parameter configuration software does not need to be independently configured for each sub-controller, so that the development cost of the configuration software can be saved, and the parameter configuration efficiency of the sub-controllers can be improved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more specifically, to a method for configuring an on-board controller, a vehicle, and a computer-readable storage medium in the field of vehicle technology. Background Technology

[0002] Currently, in the same vehicle model, the electric air pump and the power steering pump are usually supplied by different manufacturers. The air pumps and power steering pumps produced by different manufacturers require different software to configure the calibration parameters of the air pump controller and the power steering pump controller, resulting in high software development costs and difficulties in software version management. Summary of the Invention

[0003] This application provides a configuration method for an on-board controller, a vehicle, and a computer-readable storage medium. This application configures the calibration parameters of multiple sub-controllers through the same domain controller, eliminating the need to configure parameter configuration software for each sub-controller separately, thus saving software development costs.

[0004] In a first aspect, a configuration method for an on-board controller is provided, comprising: a domain controller determining target configuration information corresponding one-to-one with multiple sub-controllers from all configuration information carrying calibration parameters stored therein, and distributing the target configuration information to the corresponding sub-controllers.

[0005] Through the above technical solution, the domain controller determines the target configuration information corresponding to each of the multiple sub-controllers from all the configuration information containing the calibration parameters of the sub-controllers stored internally, and distributes the target configuration information corresponding to each of the multiple sub-controllers to the multiple sub-controllers respectively; it is possible to configure the calibration parameters of multiple sub-controllers through the same domain controller, that is, there is no need to configure a separate parameter configuration software for each sub-controller, thus saving the development cost of configuration software and improving the parameter configuration efficiency of sub-controllers.

[0006] In conjunction with the first aspect, in some possible implementations, the domain controller determines the target configuration information corresponding one-to-one with multiple sub-controllers from all the configuration information carrying calibration parameters it stores, and sends the target configuration information to the corresponding sub-controllers. This includes: the domain controller determining the identification information of each sub-controller when it determines that the parameter sending conditions are met; the domain controller determining the target configuration information corresponding one-to-one with multiple identification information from all the configuration information carrying calibration parameters it stores based on the identification information of each sub-controller; the domain controller determining the target path based on the identification information of each sub-controller, the target path being the communication path between the domain controller and the sub-controllers; and the domain controller sending the target configuration information to the corresponding sub-controllers through the target path. Based on the above technical solution, determining the target configuration information corresponding one-to-one with multiple identification information through the identification information of each sub-controller can improve the accuracy and efficiency of configuration information sending, reduce the risk of misconfiguration, and improve the overall stability and reliability of the system. Furthermore, sending target configuration information via the target path determined by the sub-controller's identification information ensures that calibration parameters are accurately sent to the designated controller, helping to avoid misconfiguration or parameter confusion. At the same time, precise target path selection optimizes network resource utilization, reduces unnecessary communication load, and helps improve the performance and efficiency of the entire vehicle electronic system.

[0007] Combining the first aspect and the above implementation methods, in some possible implementations, the domain controller distributes the target configuration information to the corresponding sub-controllers via the target path. This includes: the domain controller groups the target configuration information into i information groups, where i ≥ 2; the domain controller adds the i information groups to the data transmission queue, where the transmission time of the (n-1)th information group is earlier than the transmission time of the nth information group, and 2 ≤ n ≤ i; the domain controller sequentially distributes the i information groups in the data transmission queue to the sub-controllers corresponding to the target configuration information via the target path. Based on the above technical solution, by grouping the target configuration information and sequentially sending it to the sub-controllers corresponding to the target configuration information, when an error occurs in a certain information group during transmission, only this information group needs to be retransmitted, instead of all parameters, thus improving the system's fault tolerance and reducing the amount of retransmitted data; even if a problem occurs in a certain information group, it will not affect the transmission of other information groups, thereby improving the overall reliability of the system.

[0008] Combining the first aspect and the above implementation methods, in some possible implementation methods, the target path includes j sub-paths, j≥2, and each information group in the i information groups includes j calibration parameters; the domain controller sequentially distributes the i information groups in the data transmission queue to the sub-controllers corresponding to the target configuration information through the target path, including: the domain controller sends the j calibration parameters in the (n-1)th information group to the sub-controllers corresponding to the target configuration information through the j sub-paths respectively; the domain controller determines whether it is necessary to resend the j calibration parameters in the (n-1)th information group; if the domain controller determines that it is necessary to resend the j calibration parameters in the (n-1)th information group, it executes the step of sending the j calibration parameters in the (n-1)th information group to the sub-controllers corresponding to the target configuration information through the j sub-paths respectively; if the domain controller determines that it is not necessary to resend the j calibration parameters in the (n-1)th information group, it sends the j calibration parameters in the nth information group to the sub-controllers corresponding to the target configuration information through the j sub-paths respectively. Based on the above technical solution, by determining whether it is necessary to resend the j calibration parameters in the (n-1)th information group, and if it is necessary to resend, resending the j calibration parameters in the (n-1)th information group can ensure data integrity, reduce the risk of data loss, and help ensure that the vehicle functions can operate stably and reliably.

[0009] Combining the first aspect and the above implementation methods, in some possible implementation methods, the domain controller determines whether it needs to resend the j calibration parameters in the (n-1)th information group, including: the domain controller determines that it needs to resend the j calibration parameters in the (n-1)th information group when it receives the first feedback information sent by the sub-controller corresponding to the target configuration information; wherein, the first feedback information indicates that the sub-controller corresponding to the target configuration information has received the j calibration parameters in the (n-1)th information group and the reliability verification of the j calibration parameters in the (n-1)th information group has failed; the domain controller Upon receiving the second feedback information from the sub-controller corresponding to the target configuration information, it is determined that it is not necessary to retransmit the j calibration parameters in the (n-1)th information group. The second feedback information indicates that the sub-controller corresponding to the target configuration information has received the j calibration parameters in the (n-1)th information group and that the reliability verification of the j calibration parameters in the (n-1)th information group has passed. If the domain controller does not receive either the first or second feedback information from the sub-controller corresponding to the target configuration information, it is determined that it is necessary to retransmit the j calibration parameters in the (n-1)th information group. Based on the above technical solution, determining whether to retransmit the information group by receiving feedback information from the sub-controller corresponding to the target configuration information can significantly improve the accuracy of data transmission and the reliability of the system, ensure data integrity, reduce unnecessary retransmissions, and ensure that the sub-controller corresponding to the target configuration information can correctly perform parameter configuration and operate normally.

[0010] Combining the first aspect and the above implementation methods, in some possible implementations, when the domain controller determines that it needs to resend the j calibration parameters in the (n-1)th information group, it executes the step of sending the j calibration parameters in the (n-1)th information group to the sub-controller corresponding to the target configuration information through j sub-paths. This includes: when the domain controller determines that it needs to resend the j calibration parameters in the (n-1)th information group, it repeatedly executes the step of sending the j calibration parameters in the (n-1)th information group to the sub-controller corresponding to the target configuration information through j sub-paths within a preset time period, until it receives the second feedback information sent by the sub-controller corresponding to the target configuration information. Based on the above technical solution, by repeatedly sending within a preset time period until the second feedback information sent by the sub-controller corresponding to the target configuration information is received, the accuracy of data transmission and the reliability of the system can be significantly improved; at the same time, by setting a preset time period, indefinite repeated sending can be avoided, reducing resource waste.

[0011] In combination with the first aspect and the above implementation methods, in some possible implementation methods, the parameter delivery conditions include: when the initial calibration parameters of the sub-controller corresponding to the target configuration information are empty, the sub-controller corresponding to the target configuration information is powered on; and / or; when the initial calibration parameters of the sub-controller corresponding to the target configuration information are not empty, the target configuration information stored in the domain controller is updated.

[0012] Combining the first aspect and the above implementation methods, in some possible implementations, after the domain controller sends the target configuration information to the corresponding sub-controller, the configuration method of the vehicle controller further includes: the domain controller stopping the sending of the target configuration information upon receiving third feedback information sent by the sub-controller corresponding to the target configuration information; wherein, the third feedback information is used to indicate that the sub-controller corresponding to the target configuration information has received the target configuration information and that the reliability verification of the target configuration information has passed. Based on the above technical solution, by setting a termination condition for the domain controller to stop sending the target configuration information upon receiving third feedback information sent by the sub-controller corresponding to the target configuration information, configuration efficiency is improved and resource consumption is reduced; at the same time, by determining whether the third feedback information has been received, the reliable reception and verification of the configuration information can be confirmed, ensuring the validity and correctness of the configuration information and enhancing the stability and reliability of the system.

[0013] In a second aspect, a vehicle is provided, the vehicle comprising: a memory for storing executable program code; and a processor for calling and running the executable program code from the memory, causing the computer to execute the configuration method of the vehicle controller in the first aspect or any possible implementation thereof.

[0014] Thirdly, a computer program product is provided, comprising: computer program code, which, when run on a computer, causes the computer to execute the configuration method of the vehicle controller in the first aspect or any possible implementation thereof.

[0015] Fourthly, a computer-readable storage medium is provided that stores computer program code, which, when executed on a computer, causes the computer to perform the configuration method of the vehicle controller in the first aspect or any possible implementation thereof. Attached Figure Description

[0016] Figure 1 A schematic flowchart illustrating a configuration method for an on-board controller according to an embodiment of this application is shown;

[0017] Figure 2This illustration shows a scenario diagram of a configuration method for an on-board controller provided in an embodiment of this application;

[0018] Figure 3 This illustration shows a scenario diagram of another vehicle controller configuration method provided in an embodiment of this application;

[0019] Figure 4 A schematic diagram of the structure of a vehicle provided in an embodiment of this application is shown. Detailed Implementation

[0020] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0021] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0022] Currently, in the same vehicle model, the electric air pump and the power steering pump are usually supplied by different manufacturers. The air pumps and power steering pumps produced by different manufacturers require different software to configure the calibration parameters of the air pump controller and the power steering pump controller, resulting in high software development costs and difficulties in software version management.

[0023] Based on the problems existing in the above-mentioned related technologies, the embodiments of this application provide a configuration method for an on-board controller, a vehicle, and a computer-readable storage medium. This application stores the calibration parameters of multiple different sub-controllers in the same domain controller, and distributes and configures the calibration parameters of different sub-controllers through the same domain controller. That is, it is no longer necessary to configure a separate parameter configuration software for each sub-controller, thus saving software development costs and improving the configuration efficiency of the controller.

[0024] The following is an embodiment of a configuration method for an on-board controller provided in this application.

[0025] Figure 1This illustration shows a schematic flowchart of a configuration method for an in-vehicle controller according to an embodiment of this application. The configuration method is applied to a vehicle, which includes a domain controller. The domain controller stores target configuration information corresponding to multiple sub-controllers. The domain controller is equipped with software for configuring the target configuration information of the sub-controllers. The sub-controllers are controllers in the vehicle that require target configuration information, such as the controller of an air pump or an oil pump. Figure 2 As shown, the domain controller can send target configuration information corresponding to each of the multiple sub-controllers to the sub-controllers respectively. Target configuration information 1 is the target configuration information corresponding to sub-controller 1, target configuration information 2 is the target configuration information corresponding to sub-controller 2, and target configuration information 3 is the target configuration information corresponding to sub-controller 3. Figure 1 As shown, the configuration method of the above-mentioned vehicle controller includes the following schemes:

[0026] S110: The domain controller determines the target configuration information corresponding to each of the multiple sub-controllers from all the configuration information it stores that carries calibration parameters.

[0027] It should be understood that the domain controller stores configuration information for each of the multiple sub-controllers, and the configuration information for each of the multiple sub-controllers includes the calibration parameters for each of the multiple sub-controllers.

[0028] For example, in this embodiment of the application, the target configuration information corresponding to each sub-controller can be determined based on factors such as the identification information, type and performance indicators of each sub-controller, so as to send the calibration parameters corresponding to each sub-controller to each sub-controller respectively, so as to ensure that each sub-controller can work efficiently and accurately.

[0029] In one possible implementation, the domain controller determines target configuration information corresponding to multiple sub-controllers from all its stored configuration information carrying calibration parameters, and sends the target configuration information to the corresponding sub-controllers. This includes: the domain controller determining the identification information of each sub-controller when it determines that the parameter sending conditions are met; the domain controller determining the target configuration information corresponding to multiple identification information from all its stored configuration information carrying calibration parameters based on the identification information of each sub-controller; the domain controller determining the target path based on the identification information of each sub-controller, the target path being the communication path between the domain controller and the sub-controllers; and the domain controller sending the target configuration information to the corresponding sub-controllers through the target path.

[0030] In this embodiment, the domain controller determines the identification information of the sub-controllers when the parameter distribution conditions are met. Each sub-controller has a unique identifier, also known as a device identifier, used to represent the identity of the sub-controller.

[0031] If the parameter distribution conditions are met, the domain controller determines the identification information of the sub-controllers that need to be configured with calibration parameters.

[0032] It should be understood that in the embodiments of this application, the identification information of each sub-controller can be directly stored in the domain controller. When the domain controller needs to issue target configuration information corresponding to each sub-controller, it can directly obtain the identification information of each sub-controller from the domain controller to determine the target configuration information corresponding to each of the multiple sub-controllers, and issue the target configuration information corresponding to each sub-controller to each sub-controller respectively; or, the domain controller can issue a query request after power-on, and each sub-controller sends its own identification information to the domain controller, so that the domain controller can determine the target configuration information corresponding to each of the multiple sub-controllers, and issue the target configuration information corresponding to each sub-controller to each sub-controller respectively.

[0033] It should be understood that the domain controller stores a first correspondence between the identification information of each sub-controller and the target configuration information of that sub-controller. The target configuration information of the sub-controller can be determined by querying the first correspondence based on the identification information of the sub-controller. For example, assuming that the identification information of a sub-controller is D1, and the target configuration information corresponding to the identification information D1 in the first correspondence is d1, then the target configuration information of the sub-controller is d1.

[0034] It should be understood that for each sub-controller, the domain controller is connected to that sub-controller via a CAN line to enable communication; and the domain controller stores a second correspondence between the identification information of each sub-controller and the CAN line. By querying the second correspondence based on the identification information of the sub-controller corresponding to the target configuration information, the CAN line corresponding to the sub-controller corresponding to the target configuration information can be determined. That is, the CAN line corresponding to the sub-controller corresponding to the target configuration information is the target path, and the CAN line corresponding to the sub-controller corresponding to the target configuration information is the CAN line connecting the domain controller and that sub-controller. After determining the target path, the target configuration information is sent to the sub-controller corresponding to the target configuration information through the target path.

[0035] Based on the above technical solution, by determining the target configuration information corresponding one-to-one with multiple identification information through the identification information of each sub-controller, the accuracy and efficiency of configuration information distribution can be improved, the risk of misconfiguration can be reduced, and the overall stability and reliability of the system can be improved. Furthermore, by sending the target configuration information according to the target path determined by the identification information of the sub-controller, it can be ensured that calibration parameters are accurately sent to the designated controller, helping to avoid misconfiguration or parameter confusion. At the same time, through precise target path selection, the use of network resources can be optimized, unnecessary communication load can be reduced, and the performance and efficiency of the entire vehicle electronic system can be improved.

[0036] S120: The domain controller sends the target configuration information to the corresponding sub-controller.

[0037] In this embodiment, the domain controller distributes the target configuration information to the sub-controllers corresponding to the target configuration information, so that the sub-controllers can update their initial calibration parameters according to the target configuration information. The initial calibration parameters of the sub-controllers represent the calibration parameters configured in the last time. Updating the initial calibration parameters according to the target configuration information ensures that the sub-controllers use the latest parameter configuration, thereby improving the stability and reliability of the system.

[0038] For example, in this embodiment of the application, the domain controller sends N target configuration information to the corresponding sub-controllers of the N target configuration information through N independent lines. It should be understood that in this case, each line is dedicated to communicating with one sub-controller, which can ensure the independence and accuracy of data transmission.

[0039] In this embodiment of the application, after obtaining the target configuration information, the target configuration information is grouped so that the target configuration information is sent to the sub-controller corresponding to the target configuration information in stages.

[0040] In one possible implementation, the domain controller sends the target configuration information to the corresponding sub-controller via the target path, including: the domain controller groups the target configuration information to obtain i information groups; where i≥2; the domain controller adds the i information groups to the data transmission queue; where the sending time of the (n-1)th information group is earlier than the sending time of the nth information group, 2≤n≤i; the domain controller sequentially sends the i information groups in the data transmission queue to the sub-controllers corresponding to the target configuration information via the target path.

[0041] It should be understood that after grouping the target configuration information, i information groups are added to the data transmission queue so that the i information groups are sent sequentially to the sub-controller corresponding to the target configuration information via the target path according to the order in the queue. There is a time interval between each pair of adjacent information groups; that is, the transmission time of the (n-1)th information group is earlier than the transmission time of the nth information group. For example, the target configuration information of sub-controller A is grouped into 3 information groups; these 3 information groups are added to the data transmission queue so that the 3 information groups are sent sequentially to sub-controller A via the target path CAN A according to the order in the queue. There is a 20ms time interval between each pair of adjacent information groups; that is, after the first information group is sent, the second information group is sent after a 20ms interval; after the second information group is sent, the third information group is sent after a 20ms interval.

[0042] Based on the above technical solution, by grouping the target configuration information and sending it sequentially to the sub-controller corresponding to the target configuration information, when an error occurs in a certain information group during transmission, only this information group needs to be retransmitted, instead of all parameters, which improves the fault tolerance of the system and reduces the amount of data to be retransmitted; even if a problem occurs in a certain information group, it will not affect the transmission of other information groups, thus improving the overall reliability of the system.

[0043] It should be understood that in practical application scenarios, if the amount of data contained in each information group of the target configuration information is too large, the time required to send the target configuration information through a single CAN line will be very long, resulting in low data transmission efficiency and the single CAN line is prone to overload, which in turn leads to data transmission errors. Therefore, to avoid this situation, the target configuration information can be sent in parallel through multiple CAN lines.

[0044] In one possible implementation, the target path includes j sub-paths, j≥2, and each of the i information groups includes j calibration parameters. The domain controller sequentially distributes the i information groups in the data transmission queue to the sub-controllers corresponding to the target configuration information through the target path, including: the domain controller sending the j calibration parameters in the (n-1)th information group to the sub-controllers corresponding to the target configuration information through the j sub-paths; the domain controller determining whether it is necessary to resend the j calibration parameters in the (n-1)th information group; if the domain controller determines that it is necessary to resend the j calibration parameters in the (n-1)th information group, it executes the step of sending the j calibration parameters in the (n-1)th information group to the sub-controllers corresponding to the target configuration information through the j sub-paths; if the domain controller determines that it is not necessary to resend the j calibration parameters in the (n-1)th information group, it sends the j calibration parameters in the nth information group to the sub-controllers corresponding to the target configuration information through the j sub-paths.

[0045] It should be understood that sending j calibration parameters from the (n-1)th information group to the sub-controller corresponding to the target configuration information via j sub-paths means that when sending the (n-1)th information group in the data transmission queue via the target path, each sub-path in the target path sends one parameter from the (n-1)th information group to improve the data transmission rate. For example, see... Figure 3 As shown, for sub-controller A, the target configuration information of sub-controller A contains 3 information groups, each of which contains 3 data. Therefore, the target path CAN A of sub-controller A includes 3 sub-paths: CAN A1, CAN A2, and CANA3. That is, when the domain controller sends the first information group in the data transmission queue to sub-controller A through CAN A, the 3 data in the first information group can be sent to sub-controller A through the 3 sub-paths respectively, so as to quickly complete the distribution of calibration parameters of sub-controller A.

[0046] It should be understood that during actual parameter configuration, factors such as communication failures and electromagnetic interference may render the parameters unusable for configuring the sub-controller, requiring retransmission. Therefore, after sending all parameters in the (n-1)th information group, it is necessary to determine whether to retransmit all parameters in the (n-1)th information group. If yes, then retransmit all parameters in the (n-1)th information group; otherwise, continue sending the information group following the (n-1)th information group in the data transmission queue, i.e., send the j calibration parameters from the nth information group to the sub-controller corresponding to the target configuration information through j sub-paths. For example, for sub-controller A, after sending all parameters in the first information group, it is determined whether to retransmit all parameters in the first information group. If yes, then retransmit all parameters in the first information group; otherwise, continue sending the information group second in the data transmission queue, i.e., continue sending the second information group.

[0047] Based on the above technical solution, by determining whether it is necessary to resend the j calibration parameters in the (n-1)th information group, and if it is necessary to resend, resending the j calibration parameters in the (n-1)th information group can ensure data integrity, reduce the risk of data loss, and help ensure that the vehicle functions can operate stably and reliably.

[0048] It should be understood that after all parameters in the (n-1)th information group have been sent, feedback information from the sub-controller corresponding to the target configuration information will be received. In this embodiment, it can be determined whether all parameters in the (n-1)th information group need to be resent by whether feedback information is received or by the specific content of the received feedback information.

[0049] In one possible implementation, the domain controller determines whether the j calibration parameters in the (n-1)th information group need to be retransmitted, including: upon receiving first feedback information from the subcontroller corresponding to the target configuration information, the domain controller determines that the j calibration parameters in the (n-1)th information group need to be retransmitted; wherein, the first feedback information indicates that the subcontroller corresponding to the target configuration information has received the j calibration parameters in the (n-1)th information group and the reliability verification of the j calibration parameters in the (n-1)th information group has failed; the domain controller, upon receiving first feedback information from the subcontroller corresponding to the target configuration information, determines that the j calibration parameters in the (n-1)th information group need to be retransmitted. If the sub-controller corresponding to the configuration information sends the second feedback information, it is determined that it is not necessary to resend the j calibration parameters in the (n-1)th information group; wherein, the second feedback information indicates that the sub-controller corresponding to the target configuration information has received the j calibration parameters in the (n-1)th information group and the reliability verification of the j calibration parameters in the (n-1)th information group has passed; if the domain controller does not receive the first feedback information or the second feedback information sent by the sub-controller corresponding to the target configuration information, it is determined that it is necessary to resend the j calibration parameters in the (n-1)th information group.

[0050] It should be understood that after the sub-controller corresponding to the target configuration information receives the j calibration parameters in the (n-1)th information group, it will perform reliability verification on the j calibration parameters in the (n-1)th information group through methods such as CRC (Cyclic Redundancy Check) check code to ensure the accuracy and integrity of data transmission.

[0051] It should be understood that the first feedback information indicates that the sub-controller corresponding to the target configuration information has received the j calibration parameters in the (n-1)th information group and the reliability verification of the j calibration parameters in the (n-1)th information group has failed. This means that the j calibration parameters in the (n-1)th information group cannot be used to configure the sub-controller corresponding to the target configuration information. Therefore, receiving the first feedback information from the sub-controller corresponding to the target configuration information indicates that the j calibration parameters in the (n-1)th information group need to be resent to improve the success rate of parameter configuration. The second feedback information indicates that the sub-controller corresponding to the target configuration information has received the j calibration parameters in the (n-1)th information group and the reliability verification of the j calibration parameters in the (n-1)th information group has passed. This means that the j calibration parameters in the (n-1)th information group can be used to configure the sub-controller corresponding to the target configuration information. Therefore, receiving the second feedback information from the sub-controller corresponding to the target configuration information indicates that the j calibration parameters in the (n-1)th information group do not need to be resent. For example, for sub-controller A, the first three data packets of the first information group are sent to sub-controller A via target paths CANA1, CAN A2, and CAN A3. After receiving the three data packets of the first information group sent by CAN A1, CAN A2, and CAN A3 respectively, sub-controller A replies with a fourth feedback message. This fourth feedback message includes the feedback signals corresponding to each of the three data packets of the first information group, denoted as ACK0, ACK1, and ACK2 respectively. The values ​​of ACK0, ACK1, and ACK2 are either 0 or 1. 0 indicates that sub-controller A received a certain data packet from the first information group, but the reliability verification of that data packet failed; 1 indicates that sub-controller A received a certain data packet from the first information group, and the reliability verification of that data packet passed. After receiving the three data packets of the first information group sent by the domain controller, the fourth feedback message replied by sub-controller A can be 0, 1, or 1, respectively indicating that sub-controller A received the first data packet of the first information group, but the reliability verification of the first parameter failed; sub-controller A received... The reliability verification of the second data and the second parameter of the first information group is passed. Sub-controller A receives the third data and the third parameter of the first information group, and the reliability verification of the third parameter is passed. The fourth feedback information as a whole indicates that sub-controller A received the first information group, but the reliability verification of the first information group failed. In the above embodiment, the fourth feedback information is the first feedback information, that is, the first feedback information contains at least one feedback signal indicating that the reliability verification failed. The first feedback information indicates that the three parameters in the first information group need to be resent to sub-controller A. If the fourth feedback information is 1, 1, 1, then the fourth feedback information is the second feedback information, that is, the second feedback information does not contain a feedback signal indicating that the reliability verification failed. The second feedback information indicates that the three parameters in the first information group do not need to be resent to controller A.

[0052] If no feedback information is received from the sub-controller corresponding to the target configuration information, it indicates that the sub-controller may have experienced a temporary failure or that the data packet was corrupted during transmission. In this case, since it is impossible to determine whether the sub-controller corresponding to the target configuration information has received the j calibration parameters in the (n-1)th information group and whether the reliability verification of the j calibration parameters in the (n-1)th information group has passed, it is impossible to determine whether the j calibration parameters in the (n-1)th information group can be used to configure the sub-controller corresponding to the target configuration information. Therefore, it is necessary to resend the j calibration parameters in the (n-1)th information group to improve the success rate of parameter configuration.

[0053] It should be understood that after the sub-controller corresponding to the target configuration information receives all parameters of a certain information group, it starts timing. If the first preset time is exceeded and all correct parameters of the next information group are not received, it stops replying to feedback information, and the configuration delivery failure flag is displayed in the regular message of the sub-controller corresponding to the target configuration information. Among them, not receiving all correct parameters of the next information group includes the following three situations: at least one data in the next information group has passed the reliability verification, no data in the next information group is received, or the data in the next information group received is incomplete. That is, when the first preset time is exceeded and any of the above three situations occur, the sub-controller corresponding to the target configuration information does not reply to either the second or third feedback information, and displays the configuration delivery failure flag in the regular message of the sub-controller corresponding to the target configuration information.

[0054] Based on the above technical solution, by receiving feedback information from the sub-controller corresponding to the target configuration information to determine whether the information group needs to be retransmitted, the accuracy of data transmission and the reliability of the system can be significantly improved, the integrity of the data can be ensured, and the number of unnecessary retransmissions can be reduced, so as to ensure that the sub-controller corresponding to the target configuration information can perform parameter configuration normally and that the sub-controller corresponding to the target configuration information can work normally.

[0055] It should be understood that in this embodiment, by repeatedly sending information groups that cannot be used to configure the sub-controller corresponding to the target configuration information, it is ensured that even in the event of interference or communication failure, the calibration parameters can be correctly transmitted to the sub-controller corresponding to the target configuration information; and in order to avoid unnecessary retransmission, there is a termination condition for repeatedly sending information groups that cannot be used to configure the sub-controller corresponding to the target configuration information: (1) the duration of repeatedly sending information groups that cannot be used to configure the sub-controller corresponding to the target configuration information exceeds the second preset duration; (2) the second feedback information sent by the sub-controller corresponding to the target configuration information is received.

[0056] In one possible implementation, when the domain controller determines that it needs to resend the j calibration parameters in the (n-1)th information group, it performs the step of sending the j calibration parameters in the (n-1)th information group to the sub-controller corresponding to the target configuration information through j sub-paths respectively. This includes: when the domain controller determines that it needs to resend the j calibration parameters in the (n-1)th information group, it repeatedly performs the step of sending the j calibration parameters in the (n-1)th information group to the sub-controller corresponding to the target configuration information through j sub-paths respectively within a preset time period, until it receives the second feedback information sent by the sub-controller corresponding to the target configuration information.

[0057] It should be understood that the inability of the j calibration parameters in the (n-1)th information group to be used to configure the sub-controller corresponding to the target configuration information may be due to a failure of the sub-controller corresponding to the target configuration information. In this case, repeatedly executing the step of sending the j calibration parameters in the (n-1)th information group to the sub-controller corresponding to the target configuration information through j sub-paths will also fail to configure the parameters successfully. Therefore, in order to avoid unnecessary retransmission operations, this application only repeats the step of sending the j calibration parameters in the (n-1)th information group to the sub-controller corresponding to the target configuration information through j sub-paths within a preset time period. Alternatively, after repeatedly executing the step of sending the j calibration parameters from the (n-1)th information group to the sub-controller corresponding to the target configuration information via j sub-paths, the system receives a second feedback message from the sub-controller corresponding to the target configuration information. This feedback message indicates that the sub-controller corresponding to the target configuration information has received the j calibration parameters from the (n-1)th information group and that the reliability verification of the j calibration parameters from the (n-1)th information group has passed. In other words, the j calibration parameters from the (n-1)th information group can be used to configure the sub-controller corresponding to the target configuration information, and it is not necessary to continue executing the step of sending the j calibration parameters from the (n-1)th information group to the sub-controller corresponding to the target configuration information via j sub-paths. That is, the operation of repeatedly sending parameters can be terminated if any of the above termination conditions are met.

[0058] Based on the above technical solution, by repeatedly sending data within a preset time period until the second feedback information sent by the sub-controller corresponding to the target configuration information is received, the accuracy of data transmission and the reliability of the system can be significantly improved. At the same time, by setting a preset time period, indefinite repeated sending can be avoided, reducing resource waste.

[0059] In one possible implementation, the parameter delivery conditions include: powering on the sub-controller corresponding to the target configuration information when the initial calibration parameters of the sub-controller corresponding to the target configuration information are empty; and / or: updating the target configuration information stored in the domain controller when the initial calibration parameters of the sub-controller corresponding to the target configuration information are not empty.

[0060] It should be understood that an empty initial calibration parameter for the sub-controller indicates that the sub-controller has not stored the previously configured calibration parameters. When the initial calibration parameters of the sub-controller are empty, the sub-controller will not function properly when it is powered on, as there are no calibration parameters configured within it. Therefore, in order for the sub-controller to function properly, the calibration parameters need to be reconfigured each time the sub-controller enters the power-on state. The advantage of this configuration method is that it does not require allocating additional memory space for storing historical calibration parameters, thus simplifying the design of the sub-controller. The fact that the initial calibration parameters of the sub-controller are not empty indicates that the sub-controller has storage space and stores the previously configured calibration parameters. Therefore, it is not necessary to reconfigure the calibration parameters of the sub-controller every time it powers on. Instead, the sub-controller only needs to be reconfigured when the calibration parameters stored in the domain controller are updated, ensuring that the sub-controller always uses the latest configuration parameters. The advantages of this configuration method are: configuration is only performed when parameters change, reducing unnecessary configuration operations, improving system efficiency, and speeding up the startup of the sub-controller because it does not require configuration every time. In practical applications, the choice of configuration method can be flexibly made according to specific needs; this application does not impose any restrictions on this.

[0061] In one possible implementation, after the domain controller sends the target configuration information to the corresponding sub-controller, the configuration method of the vehicle controller further includes: the domain controller stops sending the target configuration information upon receiving a third feedback message from the sub-controller corresponding to the target configuration information; wherein the third feedback message is used to indicate that the sub-controller corresponding to the target configuration information has received the target configuration information and that the reliability verification of the target configuration information has passed.

[0062] The third feedback information indicates that the sub-controller corresponding to the target configuration information has received the target configuration information and that the reliability verification of the target configuration information has passed. Receiving the third feedback information means that the sub-controller corresponding to the target configuration information has received all information groups in the target configuration information and that the reliability verification of all information groups in the target configuration information has passed, that is, the target configuration information can be used to configure the sub-controller corresponding to the target configuration information.

[0063] Based on the above technical solution, by setting a termination condition for the domain controller to stop sending the target configuration information when it receives the third feedback information sent by the sub-controller corresponding to the target configuration information, configuration efficiency is improved and resource consumption is reduced. At the same time, by judging whether the third feedback information has been received, the reliable reception and verification of the configuration information can be confirmed, which can ensure the validity and correctness of the configuration information and enhance the stability and reliability of the system.

[0064] Based on the above technical solution, the domain controller determines the target configuration information corresponding to each of the multiple sub-controllers from all the configuration information containing the calibration parameters of the sub-controllers stored internally, and then distributes the target configuration information corresponding to each of the multiple sub-controllers to the multiple sub-controllers respectively. It is possible to configure the calibration parameters of multiple sub-controllers through the same domain controller, that is, there is no need to configure a separate parameter configuration software for each sub-controller, thus saving the development cost of configuration software and improving the parameter configuration efficiency of sub-controllers.

[0065] Figure 4 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0066] For example, such as Figure 4 As shown, the vehicle 400 includes a memory 401 and a processor 402. The memory 401 stores executable program code 4011, and the processor 402 is used to call and execute the executable program code 4011 to perform a configuration method for an on-board controller.

[0067] This embodiment can divide the vehicle into functional modules according to the above method example. For example, each function can be assigned to a separate module, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0068] When each functional module is divided according to its corresponding function, the vehicle may include: an acquisition module, a transmission module, a control module, etc. It should be noted that all relevant content of each step involved in the above method embodiments can be referenced from the functional description of the corresponding functional module, and will not be repeated here.

[0069] The vehicle provided in this embodiment is used to execute the above-described configuration method for an on-board controller. Therefore, it can achieve the same effect as the implementation method described above.

[0070] When using integrated units, the vehicle may include a processing module and a storage module. The processing module is used to control and manage the vehicle's movements. The storage module is used to support the vehicle in executing relevant program code and data.

[0071] The processing module may be a processor or a controller, which can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor may also be a combination of functions that implement computing capabilities, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc., and the storage module may be a memory.

[0072] This embodiment also provides a computer-readable storage medium storing computer program code. When the computer program code is run on a computer, the computer executes the aforementioned related method steps to implement a vehicle controller configuration method in the above embodiment.

[0073] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned steps to implement a vehicle controller configuration method as described in the above embodiment.

[0074] In addition, the vehicle provided in the embodiments of this application may specifically be a chip, component or module. The vehicle may include a connected processor and a memory. The memory is used to store instructions. When the vehicle is running, the processor may call and execute the instructions to make the chip execute a configuration method of an on-board controller in the above embodiments.

[0075] In this embodiment, the vehicle, computer-readable storage medium, computer program product, or chip are all used to execute the configuration method of the corresponding vehicle controller described above. Therefore, the beneficial effects achieved can be referred to the beneficial effects in the configuration method of the corresponding vehicle controller described above, and will not be repeated here.

[0076] Through the above description of the implementation methods, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the domain controller can be divided into different functional modules to complete all or part of the functions described above.

[0077] In the embodiments provided in this application, it should be understood that the disclosed domain controllers and methods can be implemented in other ways. For example, the domain controller embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another domain controller, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between domain controllers or units may be electrical, mechanical, or other forms.

[0078] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A configuration method of an in-vehicle controller characterized by comprising: The domain controller determines target configuration information corresponding to the plurality of sub-controllers from all configuration information stored by the domain controller and carrying calibration parameters, and issues the target configuration information to the sub-controllers corresponding thereto. The domain controller determines target configuration information corresponding to the plurality of sub-controllers from all configuration information stored by the domain controller and carrying calibration parameters, and issues the target configuration information to the sub-controllers corresponding thereto, comprising:

2. The method of configuring an in-vehicle controller according to claim 1, wherein, The domain controller determines identification information of each sub-controller when it is determined that the parameter issuing condition is met; The domain controller determines target configuration information corresponding to the plurality of sub-controllers from all configuration information stored by the domain controller and carrying calibration parameters according to the identification information of each sub-controller; The domain controller determines a target path according to the identification information of each sub-controller, the target path being a communication path between the domain controller and the sub-controllers; The domain controller issues the target configuration information to the sub-controllers corresponding thereto through the target path. The domain controller issues the target configuration information to the sub-controllers corresponding thereto through the target path, comprising:

3. The method of configuring an in-vehicle controller according to claim 2, wherein, The domain controller groups the target configuration information to obtain i information groups; wherein i≥2; The domain controller adds the i information groups to a data transmission queue; wherein the sending time of an (n-1)th information group is earlier than the sending time of an nth information group, 2≤n≤i; The domain controller issues the i information groups in the data transmission queue to the sub-controllers corresponding to the target configuration information through the target path in sequence. The target path comprises j sub-paths, j≥2, and each information group of the i information groups comprises j calibration parameters; 4. The method of claim 3, wherein The domain controller issues the i information groups in the data transmission queue to the sub-controllers corresponding to the target configuration information through the target path in sequence, comprising: The domain controller sends the j calibration parameters in the (n-1)th information group to the sub-controllers corresponding to the target configuration information through the j sub-paths, respectively; The domain controller determines whether the j calibration parameters in the (n-1)th information group need to be resent; The domain controller executes the step of sending the j calibration parameters in the (n-1)th information group to the sub-controllers corresponding to the target configuration information through the j sub-paths, respectively, when it is determined that the j calibration parameters in the (n-1)th information group need to be resent; The domain controller sends the j calibration parameters in the nth information group to the sub-controllers corresponding to the target configuration information through the j sub-paths, respectively, when it is determined that the j calibration parameters in the (n-1)th information group do not need to be resent. The domain controller determines whether the j calibration parameters in the (n-1)th information group need to be resent, comprising:

5. The method of claim 4, wherein ​ the domain controller determines that the j calibration parameters in the (n-1)th information group need to be retransmitted in a case where the domain controller receives first feedback information transmitted by the sub-controller corresponding to the target configuration information, the first feedback information indicating that the sub-controller corresponding to the target configuration information receives the j calibration parameters in the (n-1)th information group and reliability verification of the j calibration parameters in the (n-1)th information group fails; the domain controller determines that the j calibration parameters in the (n-1)th information group do not need to be retransmitted in a case where the domain controller receives second feedback information transmitted by the sub-controller corresponding to the target configuration information, the second feedback information indicating that the sub-controller corresponding to the target configuration information receives the j calibration parameters in the (n-1)th information group and reliability verification of the j calibration parameters in the (n-1)th information group passes; the domain controller determines that the j calibration parameters in the (n-1)th information group need to be retransmitted in a case where the domain controller does not receive the first feedback information or the second feedback information transmitted by the sub-controller corresponding to the target configuration information.

6. The method of claim 4, wherein the step of transmitting, by the domain controller, the j calibration parameters in the (n-1)th information group to the sub-controller corresponding to the target configuration information through the j sub-paths respectively in a case where the domain controller determines that the j calibration parameters in the (n-1)th information group need to be retransmitted, comprises: the step of transmitting, by the domain controller, the j calibration parameters in the (n-1)th information group to the sub-controller corresponding to the target configuration information through the j sub-paths respectively is repeatedly performed by the domain controller in a case where the domain controller determines that the j calibration parameters in the (n-1)th information group need to be retransmitted, until the second feedback information transmitted by the sub-controller corresponding to the target configuration information is received, the step being repeatedly performed within a preset time length.

7. The method of configuring a vehicle controller according to any one of claims 2 to 6, wherein, the parameter issuing condition comprises: the initial calibration parameters of the sub-controller corresponding to the target configuration information are empty; and / or; the target configuration information stored in the domain controller is updated in a case where the initial calibration parameters of the sub-controller corresponding to the target configuration information are not empty.

8. The method of configuring a vehicle controller according to any one of claims 2 to 6, wherein, after the domain controller issues the target configuration information to the sub-controller corresponding thereto, the configuration method of the vehicle-mounted controller further comprises: the domain controller stops transmitting the target configuration information in a case where the domain controller receives third feedback information transmitted by the sub-controller corresponding to the target configuration information, the third feedback information indicating that the sub-controller corresponding to the target configuration information receives the target configuration information and reliability verification of the target configuration information passes.

9. A vehicle characterized by comprising: the vehicle comprises: a memory configured to store executable program code; A processor is configured to call and run the executable program code from the memory, so that the vehicle executes the method as claimed in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, which, when executed, implements the configuration method of the vehicle-mounted controller as claimed in any one of claims 1 to 8.

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