Iterative method and device for integrating vehicle CAN signals based on AutoSar architecture, computer readable storage medium and computer program product

Abstract

This invention provides a method, apparatus, computer-readable storage medium, and computer program product for integrating and iterating vehicle CAN signals based on the AutoSar architecture. The method includes: parsing a preset configuration file of the vehicle CAN bus using a preset script to generate a union cache, macro interface, and signal mapping table; automatically generating parsing code, scheduling code, and ARXML configuration file for the target component based on the signal mapping table; storing received message data in the union cache using the AutoSar COM module; reading physical values ​​through the macro interface and transmitting them to the target component via the RTE interface to form a data receiving link; and obtaining data to be sent through the RTE interface, converting the physical values ​​to raw values ​​through the macro interface and writing them into the union cache; and transmitting the data in the union cache as a whole to the COM module for transmission to form a data sending link. This embodiment can reduce processing load and improve iteration efficiency.

Description

Technical Field

[0001] This invention relates to the field of vehicle CAN network configuration technology, and in particular to a method, apparatus, computer-readable storage medium, and computer program product for vehicle CAN signal integration and iteration based on the AutoSar architecture. Background Technology

[0002] In the field of automotive electronics, the CAN bus, as the core communication method of in-vehicle networks, is widely used for data exchange between various ECUs. The in-vehicle CAN communication protocol stack developed based on the AutoSar architecture has excellent modularity and portability, and has become the mainstream solution for in-vehicle software development.

[0003] There is an existing CAN signal processing method based on the AutoSar architecture. It generates a basic communication configuration by importing a configuration file (e.g., DBC or ARXML file), and then manually completes the mapping and docking of CAN signals with application layer components using a toolchain. In the CAN signal parsing and transmission / reception processing stage, the system usually uses the AutoSar standard interfaces Com_ReceiveSignal and Com_SendSignal to implement signal reading and writing. These interfaces need to perform multiple loop lookups and bit operations based on the signal start bit, length, and position information to complete signal extraction and filling. When multiple CAN channels are working simultaneously and the number of messages is large, it will significantly consume CPU resources, increase system load, and cause a large runtime latency. In addition, during the development process, project modifications, DBC file updates, or requirement iterations are usually required. At this time, developers need to reconfigure signal mapping, manually modify parsing logic, and regenerate and adapt RTE interface and ARXML file. The operation is cumbersome and repetitive, relying on a lot of manual configuration and code writing. It is impossible to achieve automated generation and rapid deployment of CAN signal processing code, resulting in long development cycles, low integration efficiency, and difficulty in meeting the needs of rapid iteration and reuse of vehicle software across multiple projects. Summary of the Invention

[0004] The technical problem to be solved by the embodiments of the present invention is to provide an in-vehicle CAN signal integration and iteration method based on the AutoSar architecture, which can reduce the processing load and improve the iteration efficiency.

[0005] A further technical problem to be solved by the embodiments of the present invention is to provide an in-vehicle CAN signal integration and iteration device based on the AutoSar architecture, which can reduce the processing load and improve the iteration efficiency.

[0006] A further technical problem to be solved by the embodiments of the present invention is to provide a computer-readable storage medium for storing a computer program that can reduce processing load and improve iteration efficiency.

[0007] A further technical problem to be solved by the embodiments of the present invention is to provide a computer program product that can reduce processing load and improve iteration efficiency.

[0008] To address the aforementioned technical problems, this invention first provides the following technical solution: a method for integrating and iterating vehicle CAN signals based on the AutoSar architecture, comprising the following steps: A preset script is used to parse the preset configuration file of the vehicle CAN bus, generate a union cache, macro interface and signal mapping table, and automatically generate parsing code, scheduling code and ARXML configuration file of the target component based on the signal mapping table. The union cache is composed of raw message array and bit field structure. The macro interface is used to convert the physical value of the signal to the raw value through the bit field structure. The signal mapping table reflects the correspondence between CAN signal and transceiver port. The AutoSar-based COM module stores received message data in the union buffer, reads physical values ​​through the macro interface, and transmits them to the target component via the RTE interface, forming a data reception link; and The data to be sent is obtained through the RTE interface, the physical value is converted into the original value through the macro interface and written into the union cache, and the data in the union cache is transmitted as a whole to the COM module for transmission, thus forming a data transmission link.

[0009] Furthermore, the bit field structure is defined according to the signal start bit, signal length, and cross-byte relationship to map each signal in the message data to the corresponding bit field member.

[0010] Furthermore, the macro interface is generated based on the signal scaling factor and offset in the configuration file, and internally encapsulates conversion logic for bidirectional conversion between physical values ​​and original values.

[0011] Furthermore, when storing the received message data into the consortium buffer, a receive update flag is set synchronously, and the receive update flag is periodically polled. When the receive update flag is triggered, the operation of reading the physical value is performed.

[0012] Furthermore, the received message data is stored in the union cache through the ComCallout interface of the COM module.

[0013] Furthermore, the data in the union cache is copied as a whole to the data area pointed to by the SduDataPtr pointer of the corresponding PDU of the COM module through the ComTxCallout interface of the COM module, so as to realize the overall transmission.

[0014] Furthermore, after generating the signal mapping table, interface information is filled in the signal mapping table, and then the parsing code, scheduling code, and ARXML configuration file are generated based on the signal mapping table.

[0015] On the other hand, in order to solve the above-mentioned further technical problems, the present invention provides the following technical solution: an in-vehicle CAN signal integration and iteration device based on the AutoSar architecture, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, it implements the in-vehicle CAN signal integration and iteration method based on the AutoSar architecture as described above.

[0016] Furthermore, in order to solve the aforementioned technical problems, the present invention provides the following technical solution: a computer-readable storage medium, the computer-readable storage medium including a stored computer program, wherein, when the computer program is running, it controls the device where the computer-readable storage medium is located to execute the in-vehicle CAN signal integration and iteration method based on the AutoSar architecture as described above.

[0017] On another front, in order to solve the aforementioned further technical problems, the present invention provides the following technical solution: a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, it implements the in-vehicle CAN signal integration and iteration method based on the AutoSar architecture as described in any one of the above.

[0018] After adopting the above technical solution, the embodiments of the present invention have at least the following beneficial effects: The embodiments of the present invention pre-parse the configuration file of the vehicle CAN bus using a preset script, generating a union cache, macro interface, and signal mapping table. The signal start bit, length, and physical conversion relationship between the union cache and the macro interface are completely corresponding. The signal parsing and conversion logic is fixed at compile time, eliminating the need for loop lookups, bit operations, and dynamic calculations at runtime, thus avoiding the high overhead of traditional interfaces and reducing the CAN signal processing load. Furthermore, the script generates a signal mapping table while parsing the configuration file. Only the correspondence between CAN signals and transceiver ports and components needs to be configured to automatically generate parsing code, scheduling code, and ARXML configuration files in batches, eliminating the need for... The signal mapping logic needs to be manually written. Then, when receiving message data, the message data is directly stored in the union buffer. The physical value is read through the macro interface and transmitted to the target component through the RTE interface. The physical value can be directly output when receiving through the macro interface and directly written when sending. It can be directly mapped to the target component through the RTE interface. The upper layer does not need secondary data conversion, reducing software complexity. When sending message data, the data to be sent is obtained through the RTE interface. The physical value is converted into the original value through the macro interface and written into the union buffer. The data in the union buffer is then transmitted as a whole to the COM module for transmission. Therefore, there is no need to package and parse each signal. The sending and receiving process only involves simple data transfer, which greatly shortens the communication processing time. Attached Figure Description

[0019] Figure 1 This is a flowchart illustrating the steps of an optional embodiment of the in-vehicle CAN signal integration and iteration method based on the AutoSar architecture of the present invention.

[0020] Figure 2 This is a schematic diagram of an optional embodiment of the in-vehicle CAN signal integration and iteration device based on the AutoSar architecture of the present invention.

[0021] Figure 3 This is a functional block diagram of an optional embodiment of the in-vehicle CAN signal integration and iteration device based on the AutoSar architecture of the present invention. Detailed Implementation

[0022] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments. It should be understood that the following illustrative embodiments and descriptions are only used to explain the present invention and are not intended to limit the present invention. Moreover, the embodiments and features in the embodiments of the present application can be combined with each other unless otherwise specified.

[0023] like Figure 1 As shown, an optional embodiment of the present invention provides an iterative method for integrating vehicle CAN signals based on the AutoSar architecture, comprising the following steps: S1: The preset script parses the preset configuration file of the vehicle CAN bus, generates a union cache, macro interface and signal mapping table, and automatically generates parsing code, scheduling code and ARXML configuration file of the target component based on the signal mapping table. The union cache is composed of raw message array and bit field structure. The macro interface is used to convert the physical value of the signal to the raw value through the bit field structure. The signal mapping table reflects the correspondence between CAN signal and transceiver port. S2: The COM module based on AutoSar stores the received message data into the union buffer, reads the physical value through the macro interface, and transmits it to the target component via the RTE (Run-Time Environment) interface, forming a data reception link; and S3: Obtain the data to be sent through the RTE interface, convert the physical value into the original value through the macro interface and write it into the union cache, and transmit the data in the union cache as a whole to the COM module for transmission, thus forming a data transmission link.

[0024] This invention pre-parses the vehicle CAN bus configuration file using a pre-defined script, generating a union buffer, macro interface, and signal mapping table. The signal start bits, lengths, and physical conversion relationships between the union buffer and macro interface are completely corresponding. The signal parsing and conversion logic is fixed at compile time, eliminating the need for loop lookups, bit operations, and dynamic calculations at runtime, thus avoiding the high overhead of traditional interfaces and reducing the CAN signal processing load. Furthermore, the script generates a signal mapping table while parsing the configuration file. Only the correspondence between CAN signals and transceiver ports and components needs to be configured to automatically generate parsing code, scheduling code, and ARXML configuration files in batches, eliminating the need for manual writing of signal mapping logic. Then… When receiving message data, the message data is directly stored in the union buffer. The physical value is read through the macro interface and transmitted to the target component through the RTE interface. The physical value can be directly output when receiving through the macro interface and directly written into the physical value when sending. It can be directly mapped to the target component through the RTE interface. No secondary data conversion is required at the upper layer, reducing software complexity. When sending message data, the data to be sent is obtained through the RTE interface. The physical value is converted into the original value through the macro interface and written into the union buffer. The data in the union buffer is then transmitted as a whole to the COM module for transmission. Therefore, there is no need for signal-by-signal packaging and parsing. The transmission and reception process only involves simple data transfer, which greatly shortens the communication processing time.

[0025] In specific implementation, the script can be any one of Python script, TCL script, Node.js script or MATLAB script; preferably, Python script is used, which uses the cantools library to parse the CAN bus DBC configuration file, uses a table processing library to read and write Excel signal mapping tables, and uses a template engine to automatically generate C language code and AUTOSAR standard ARXML configuration files in batches.

[0026] In an optional embodiment of the present invention, the bit field structure is defined according to the signal start bit, signal length, and byte spanning relationship to map each signal in the message data to the corresponding bit field member. In this embodiment, the union cache is configured in the above manner, the original message array is used for overall storage, and the bit field structure is used for signal parsing. During reception, only the original message needs to be written once, and the signal can be directly read through the bit field; during transmission, only the bit field needs to be written, and the signal can be directly transmitted through the array. There is no need for unpacking, repackaging, shifting, or secondary conversion throughout the process, which significantly reduces memory usage and data handling operations. In addition, the bit field structure is strictly defined according to the actual layout of the signal in the message. The signal position, length, and byte spanning field are all pre-generated by the script according to the configuration file. During runtime, there is no need to calculate offsets, determine bit segments, or process byte spanning. Moreover, the bit field structure can accurately match the signal layout according to the chip architecture, and can accurately map complex signals with byte spanning, non-alignment, and multi-segment bits without problems such as shifting errors or parsing anomalies, thus improving the stability and security of vehicle communication. In practice, the union cache is composed of an 8-byte raw message array and a bit field structure.

[0027] In an optional embodiment of the present invention, the macro interface is generated based on the signal scaling factor and offset in the configuration file, and internally encapsulates conversion logic for bidirectional conversion between physical values ​​and original values. In this embodiment, the macro interface directly encapsulates the signal scaling factor and offset conversion logic, enabling bidirectional conversion between physical values ​​and original values ​​during reception and transmission. The application layer no longer needs to handle bit parsing, code value conversion, and numerical correction, greatly simplifying the upper-layer software logic and reducing code redundancy and error probability. Moreover, the macro interface is directly expanded into hardware direct access instructions during the compilation stage, without function calls, context protection, or parameter passing overhead.

[0028] In an optional embodiment of the present invention, a receive update flag is set synchronously when the received message data is stored in the consortium buffer, and the receive update flag is periodically polled. When the receive update flag is triggered, the operation of reading the physical value is performed. In this embodiment, a flag-based triggering mechanism is adopted. When no new message is received, the signal reading and conversion process is skipped directly, without the need to continuously loop through all CAN signals. The physical value is read only through the macro interface when the receive update flag is valid, which greatly reduces the invalid calculation during idle periods, simplifies the number of instruction executions, and effectively reduces the overall system load.

[0029] In an optional embodiment of the present invention, the received message data is stored in the joint buffer via the ComCallout interface of the COM module. In this embodiment, the native ComCallout callback interface of the AUTOSAR COM module is directly utilized, which can be triggered immediately after the CAN message is received at the underlying level, without waiting for system task scheduling delay. This allows the complete original message to be transferred to the joint buffer in batches as soon as possible, shortening the message retention time and improving the real-time performance of vehicle communication data.

[0030] In an optional embodiment of the present invention, the data in the union cache is copied in its entirety to the data area pointed to by the SduDataPtr pointer of the corresponding PDU of the COM module through the ComTxCallout interface of the COM module, thereby realizing the overall transmission. In this embodiment, the native ComTxCallout send callback interface of the AutoSar COM module is reused. It is triggered the instant the COM module is ready to send the PDU message, and directly copies the complete message data prepared in the union cache to the data area pointed to by the SduDataPtr pointer in one go. This eliminates the need for signal retrieval and bit-by-bit filling processes within the COM module, significantly shortening the transit time of the message from the cache to the transmission channel, improving the real-time performance of CAN transmission, and adapting to the high real-time communication requirements of automotive applications.

[0031] In an optional embodiment of the present invention, after generating the signal mapping table, interface information is filled in the signal mapping table, and then the parsing code, scheduling code, and ARXML configuration file are generated based on the signal mapping table. In this embodiment, the physical configuration of CAN signals and the configuration of AutoSar interfaces are managed independently through the signal mapping table. Developers only need to maintain the interface information in the mapping table without directly modifying the code logic, reducing code coupling and making the software architecture clearer and easier to maintain later. In specific implementation, the signal mapping table presents the correspondence between CAN signals, ports, components, and Runnables in a visual table format. Developers can intuitively view the signal flow and interface binding relationship, facilitating quick location, debugging, and modification, and improving integration development efficiency. In specific implementation, the signal mapping table can be an Excel spreadsheet for easy filling.

[0032] On the other hand, such as Figure 2 As shown, this embodiment of the invention further provides an in-vehicle CAN signal integration and iteration device 1 based on the AutoSar architecture, including a processor 10, a memory 12, and a computer program stored in the memory 12 and configured to be executed by the processor 10. When the processor 10 executes the computer program, it implements the in-vehicle CAN signal integration and iteration method based on the AutoSar architecture as described in any of the above.

[0033] For example, the computer program can be divided into one or more modules / units, which are stored in the memory 12 and executed by the processor 10 to complete the present invention. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program in the AutoSar-based vehicle CAN signal integration and iteration device 1. For example, the computer program can be divided into... Figure 3 The functional modules in the AutoSar-based vehicle CAN signal integration and iteration device 1 include the configuration file parsing module 41, the data receiving link construction module 42, and the data sending link construction module 43, which respectively execute steps S1-S3 above.

[0034] The AutoSar-based in-vehicle CAN signal integration and iteration device 1 can be a computing device such as a desktop computer, laptop, handheld computer, or cloud server. The AutoSar-based in-vehicle CAN signal integration and iteration device 1 may include, but is not limited to, a processor 10 and a memory 12. Those skilled in the art will understand that the schematic diagram is merely an example of the AutoSar-based in-vehicle CAN signal integration and iteration device 1 and does not constitute a limitation on the AutoSar-based in-vehicle CAN signal integration and iteration device 1. It may include more or fewer components than illustrated, or combine certain components, or different components. For example, the AutoSar-based in-vehicle CAN signal integration and iteration device 1 may also include input / output devices, network access devices, buses, etc.

[0035] The processor 10 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor. The processor 10 is the control center of the AutoSar-based vehicle CAN signal integration and iteration device 1, connecting various parts of the AutoSar-based vehicle CAN signal integration and iteration device 1 via various interfaces and lines.

[0036] The memory 12 can be used to store the computer programs and / or modules. The processor 10 implements various functions of the AutoSar-based vehicle CAN signal integration and iteration device 1 by running or executing the computer programs and / or modules stored in the memory 12 and calling the data stored in the memory 12. The memory 12 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, application programs required for at least one function (such as image recognition function, image overlay function, etc.), etc.; the data storage area may store data (such as image data, etc.) created based on the use of the AutoSar-based vehicle CAN signal integration and iteration device 1. In addition, the memory 12 may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0037] If the functions described in the embodiments of the present invention are implemented in the form of software functional modules or units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the embodiments of the present invention can implement all or part of the processes in the methods described above, or they can be accomplished by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by the processor 10, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0038] In another aspect, embodiments of the present invention also provide a computer-readable storage medium, the computer-readable storage medium including a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to execute the in-vehicle CAN signal integration and iteration method based on the AutoSar architecture as described above.

[0039] In another aspect, embodiments of the present invention also provide a computer program product, including a computer program that, when executed by a processor, implements the in-vehicle CAN signal integration and iteration method based on the AutoSar architecture as described in any of the above embodiments.

[0040] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0041] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the scope of protection of the present invention.

Claims

1. A method for integrating and iterating vehicle CAN signals based on the AutoSar architecture, characterized in that, The method includes the following steps: A preset script is used to parse the preset configuration file of the vehicle CAN bus, generate a union cache, macro interface and signal mapping table, and automatically generate parsing code, scheduling code and ARXML configuration file of the target component based on the signal mapping table. The union cache is composed of raw message array and bit field structure. The macro interface is used to convert the physical value of the signal to the raw value through the bit field structure. The signal mapping table reflects the correspondence between CAN signal and transceiver port. The AutoSar-based COM module stores received message data in the union buffer, reads physical values ​​through the macro interface, and transmits them to the target component via the RTE interface, forming a data reception link; and The data to be sent is obtained through the RTE interface, the physical value is converted into the original value through the macro interface and written into the union cache, and the data in the union cache is transmitted as a whole to the COM module for transmission, thus forming a data transmission link.

2. The method for integrating and iterating vehicle CAN signals based on the AutoSar architecture as described in claim 1, characterized in that, The bit field structure is defined according to the signal start bit, signal length, and cross-byte relationship to map each signal in the message data to the corresponding bit field member.

3. The in-vehicle CAN signal integration and iteration method based on the AutoSar architecture as described in claim 1 or 2, characterized in that, The macro interface is generated based on the signal scaling factor and offset in the configuration file, and internally encapsulates conversion logic for bidirectional conversion between physical values ​​and original values.

4. The in-vehicle CAN signal integration and iteration method based on the AutoSar architecture as described in claim 1, characterized in that, When storing the received message data into the consortium buffer, a receive update flag is set synchronously, and the receive update flag is periodically polled. When the receive update flag is triggered, the operation of reading the physical value is performed.

5. The in-vehicle CAN signal integration and iteration method based on the AutoSar architecture as described in claim 1, characterized in that, The received message data is stored in the union cache through the ComCallout interface of the COM module.

6. The in-vehicle CAN signal integration and iteration method based on the AutoSar architecture as described in claim 1, characterized in that, The data in the union cache is copied as a whole to the data area pointed to by the SduDataPtr pointer of the corresponding PDU of the COM module through the ComTxCallout interface of the COM module, so as to realize the overall transmission.

7. The in-vehicle CAN signal integration and iteration method based on the AutoSar architecture as described in claim 1, characterized in that, After generating the signal mapping table, interface information is filled in the signal mapping table, and then the parsing code, scheduling code, and ARXML configuration file are generated based on the signal mapping table.

8. A vehicle-mounted CAN signal integration and iteration device based on the AutoSar architecture, characterized in that, The device includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to implement the in-vehicle CAN signal integration and iteration method based on the AutoSar architecture as described in any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to perform the in-vehicle CAN signal integration and iteration method based on the AutoSar architecture as described in any one of claims 1 to 7.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the in-vehicle CAN signal integration and iteration method based on the AutoSar architecture as described in any one of claims 1-7.

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