Vehicle body control arbitration method and apparatus based on SOA services

Abstract

The present application relates to the technical field of in-vehicle services. Disclosed are a vehicle body control arbitration method and apparatus based on SOA services. The method comprises: acquiring a new external request, and parsing the new external request to acquire a request service type and a request time of the new external request; determining whether there is a conflict between the new external request and a current external request set to be processed; if there is a conflict, performing external conflict arbitration, so as to obtain a first external arbitration result; performing format conversion on the new external request, so as to form a new external command; determining whether there is a conflict between the new external command and a current local command set to be processed; if there is a conflict, performing local conflict arbitration, so as to obtain a first local arbitration result; and on the basis of the first local arbitration result, driving a zone controller. The present application solves the problems of priorities and conflicts between a local end and a remote end of vehicle body control, thereby saving processing resources of devices, greatly improving the system compatibility, and reducing the degree of coupling between services and signals.

Description

A method and apparatus for vehicle body control arbitration based on SOA services

[0001] Cross-references to related applications

[0002] This application claims priority to Chinese Patent Application No. 202411645300.5, filed on November 18, 2024, entitled "A Body Control Arbitration Method and Device Based on SOA Services", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of vehicle service technology, and in particular to a vehicle body control arbitration method and device based on SOA services. Background Technology

[0004] In the context of SOA architecture, for vehicle body control applications, to facilitate rapid service-oriented implementation within the existing architecture, local control strategies are typically retained, using CAN communication based on signals for interaction. New remote control strategies are then added, using Ethernet communication based on services. This approach eliminates the need to adjust the existing CAN-based model framework; only the addition of SOA service applications is required.

[0005] CAN signal-based control and service-based invocation coexist. Therefore, after adding the SOA component, the control strategy implementation becomes more complex, requiring consideration of control response priorities and conflicts. Thus, an arbitration strategy based on local and remote SOA control is urgently needed to resolve priority and conflict issues between local and remote control in vehicle body control. Summary of the Invention

[0006] This application provides a vehicle body control arbitration method and apparatus based on SOA services, which solves the priority and conflict problem between the local end and the remote end in vehicle body control and saves equipment processing resources.

[0007] To address the aforementioned technical problems, this application provides a vehicle body control arbitration method based on SOA services, including:

[0008] Obtain new external requests, and parse the new external requests to obtain the request service type and request time of the new external requests;

[0009] Get the current set of external requests to be processed;

[0010] Determine whether the new external request conflicts with the current set of external requests to be processed based on the request time of the new external request;

[0011] If the new external request conflicts with the current set of external requests to be processed, external conflict arbitration is performed based on the request service type of the new external request to obtain a first external arbitration result.

[0012] Based on the first external arbitration result, the new external request is formatted to form a new external command;

[0013] Get the current set of local commands to be processed;

[0014] Determine whether the new external command conflicts with the current set of local commands to be processed;

[0015] If the new external command conflicts with the current set of local commands to be processed, local conflict arbitration is performed based on the request service type of the new external request to obtain a first local arbitration result.

[0016] Drive the region controller based on the first local arbitration result.

[0017] Furthermore, if the new external request conflicts with the current set of pending external requests, external conflict arbitration is performed based on the request service type of the new external request to arrive at a first external arbitration result, specifically as follows:

[0018] When the new external request conflicts with the current set of external requests to be processed, obtain multiple first external conflict requests that conflict with the new external request;

[0019] Based on the service type of the new external request and the first arbitration scheme, external conflict arbitration is conducted to obtain the first external arbitration result;

[0020] The first arbitration scheme includes:

[0021] When a new external request conflicts with the current set of external requests to be processed, the new external request and each of the first conflicting external requests are responded to in sequence according to the order of their request times.

[0022] Furthermore, if the new external command conflicts with the current set of local commands to be processed, local conflict arbitration is performed based on the request service type of the new external request to obtain a first local arbitration result, specifically as follows:

[0023] When the new external command conflicts with the current set of local commands to be processed, obtain multiple first local conflict commands that conflict with the new external command;

[0024] If the request service type of the new external request is vehicle body control service, then determine the command type of the new external command;

[0025] Based on the command type of the new external command, the first arbitration scheme, and the second arbitration scheme, local conflict arbitration is performed to obtain the first local arbitration result;

[0026] The first arbitration scheme further includes:

[0027] When the new external command conflicts with the current set of local commands to be processed, the new external command and each of the first local conflict commands are responded to in sequence according to the order of their request times.

[0028] The second arbitration proposal includes:

[0029] When the new external command conflicts with the current set of local commands to be processed, the new external command is responded to to override each of the first conflicting local commands.

[0030] Furthermore, the external conflict arbitration based on the request service type of the new external request and the first arbitration scheme, to obtain the first external arbitration result, specifically involves:

[0031] When the service type requested by the new external request is vehicle body control service, the result of the first external arbitration will be determined as the first arbitration scheme.

[0032] When the service type of the new external request is the vehicle body control anomaly feedback service, the first external arbitration result is determined to respond to both the new external request and multiple first external conflict requests simultaneously.

[0033] When the service type of the new external request is vehicle body control parameter setting service, the signal type of the new external request is determined. When the signal type of the new external request is the first signal type, the first external arbitration result is determined as the first arbitration scheme.

[0034] Furthermore, the step of converting the format of the new external request based on the first external arbitration result to form a new external command specifically involves:

[0035] Determine the signal type of the new external request based on the input interface of the new external request;

[0036] Map the new external request to a first network signal;

[0037] The first network signal is obtained through inter-core communication, and the output interface of the first network signal is determined according to the signal type of the new external request;

[0038] The first network signal is converted into a new external command using the output interface of the first network signal.

[0039] Furthermore, the local conflict arbitration based on the command type of the new external command, the first arbitration scheme, and the second arbitration scheme to obtain the first local arbitration result is specifically as follows:

[0040] When the command type of the new external command is an event-triggered control command, the first local arbitration result is determined as the first arbitration scheme;

[0041] When the command type of the new external command is a status control command, the first local arbitration result will be determined as the second arbitration scheme;

[0042] When the command type of the new external command is a long-term triggered control command, the first local arbitration result will be determined as either the first arbitration scheme or the second arbitration scheme.

[0043] Furthermore, before obtaining the new external request, the process also includes:

[0044] When a new request is received from an external client, the new request is converted to a new external request.

[0045] Furthermore, the SOA-based vehicle body control arbitration method further includes:

[0046] When a new local command is received, the request service type and request time of the new local command are obtained by parsing the new local command;

[0047] Based on the request time of the new local command, determine whether the new local command conflicts with the current set of local commands to be processed;

[0048] If the new local command conflicts with the current set of local commands to be processed, local conflict arbitration is performed based on the request service type of the new local command to obtain a second local arbitration result.

[0049] The region controller is driven based on the second local arbitration result.

[0050] Furthermore, if the new local command conflicts with the current set of local commands to be processed, local conflict arbitration is performed based on the request service type of the new local command to obtain a second local arbitration result, specifically as follows:

[0051] When the new local command conflicts with the current set of local commands to be processed, obtain multiple second local conflict commands that conflict with the new local command.

[0052] If the request service type of the new local command is vehicle body control service, then determine the command type of the new local command;

[0053] When the command type of the new local command is an event-triggered control command, the second local arbitration result will be determined as the first arbitration scheme;

[0054] When the command type of the new local command is a status control command, the second local arbitration result will be determined as the second arbitration scheme;

[0055] When the command type of the new local command is a long-term triggered control command, the result of the second local arbitration will be determined as either the first arbitration scheme or the second arbitration scheme.

[0056] The first arbitration scheme further includes:

[0057] When the new local command conflicts with the current set of local commands to be processed, the new local command and each second local conflict command are responded to in the order of their request times.

[0058] The second arbitration proposal also includes:

[0059] When the new local command conflicts with the current set of local commands to be processed, the new local command is responded to to override each of the second conflicting local commands.

[0060] Accordingly, this application provides a vehicle body control arbitration device based on SOA services, including: a parsing module, a first acquisition module, a first judgment module, a first arbitration module, a conversion module, a second acquisition module, a second judgment module, a second arbitration module, and a driving module;

[0061] The parsing module is used to obtain new external requests, and to obtain the request service type and request time of the new external requests by parsing the new external requests;

[0062] The first acquisition module is used to acquire the current set of external requests to be processed;

[0063] The first judgment module is used to determine whether there is a conflict between the new external request and the current set of external requests to be processed, based on the request time of the new external request;

[0064] The first arbitration module is used to perform external conflict arbitration based on the request service type of the new external request if the new external request conflicts with the current set of external requests to be processed, and to obtain a first external arbitration result.

[0065] The conversion module is used to convert the format of the new external request based on the first external arbitration result, forming a new external command;

[0066] The second acquisition module is used to acquire the current set of local commands to be processed;

[0067] The second judgment module is used to determine whether the new external command conflicts with the current set of local commands to be processed;

[0068] The second arbitration module is used to perform local conflict arbitration based on the request service type of the new external request if the new external command conflicts with the current set of local commands to be processed, and to obtain a first local arbitration result.

[0069] The driving module is used to drive the area controller according to the first local arbitration result.

[0070] Compared with the prior art, this application has the following beneficial effects:

[0071] This application utilizes an SOA front-end processor to handle conflicts between external requests and a back-end arbitrator to handle conflicts between external commands and local commands, as well as between local commands. This resolves the priority and conflict issues between the local and remote ends of the vehicle body control system, unifies control commands, greatly improves system compatibility, and reduces the coupling between services and signals. Attached Figure Description

[0072] Figure 1 is a flowchart illustrating an embodiment of the vehicle body control arbitration method based on SOA services provided in this application.

[0073] Figure 2 is a schematic diagram of an embodiment of the vehicle body control arbitration system based on SOA services provided in this application;

[0074] Figure 3 is a schematic diagram of the structure of an embodiment of the SOA service front-end processing module provided in this application;

[0075] Figure 4 is a structural schematic diagram of an embodiment of the SOA service proxy module provided in this application;

[0076] Figure 5 is a schematic diagram of an embodiment of the vehicle body control arbitration device based on SOA services provided in this application. Detailed Implementation

[0077] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0078] The flowcharts shown in the accompanying diagrams are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily need to be performed in the described order. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation. Furthermore, the term "multiple" refers to two or more.

[0079] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0080] In the description of this application, it should be understood that the following terms are used:

[0081] VDC: Vehicle Domain Controller, Central Domain Controller

[0082] ZCU: Zone Control Unit

[0083] SOA: Service-oriented architecture

[0084] SWC: Software Component, Application Software Unit

[0085] RTE: Runtime environment, which is the interface layer in the AUTOSAR architecture.

[0086] SOME / IP: Scalable Service-Oriented Middleware over IP, a protocol used in Ethernet communication.

[0087] DDS: Data Distribution Service, a protocol used in Ethernet communication.

[0088] HTTP: Hypertext Transfer Protocol, a type of Ethernet communication protocol.

[0089] IPCF: Platform Inter-Processor Communication Framework

[0090] AP: Adaptive Autosar

[0091] CP: Classic Autosar

[0092] Method: Interface of the SOME / IP protocol

[0093] Event: Interface for the SOME / IP protocol

[0094] Field: Interface for the SOME / IP protocol

[0095] Getter: A communication mechanism in the Field interface that uses reading methods.

[0096] Notifier: A communication mechanism in the Field interface that uses notifications.

[0097] Setter: A communication mechanism in the Field interface that uses settings.

[0098] Example 1

[0099] Referring to Figure 1, it is a flowchart illustrating an embodiment of the vehicle body control arbitration method based on SOA services provided in this application. The method includes steps 101 to 109, each of which is detailed below:

[0100] Step 101: Obtain the new external request, and obtain the request service type and request time of the new external request by parsing the new external request.

[0101] In the first embodiment of this application, there is a conflict issue in vehicle body control where multiple clients simultaneously request to call the same service. Therefore, upon receiving a new external request from an external client, the new external request is first parsed to obtain the request service type and request time corresponding to the request. The request time is used to determine whether the new external request conflicts with the existing set of currently pending external requests, and the request service type is used to determine the arbitration scheme.

[0102] Furthermore, in the first embodiment of this application, before obtaining a new external request, the following steps are also included:

[0103] When a new request is received from an external client, the new request is converted to a new external request.

[0104] In the first embodiment of this application, when a new request is received from an external client, the new request is first converted to a new external request for subsequent arbitration. For example, DDS, HTTP, etc., are converted to SOME / IP, thereby enabling the handling of service call requests from applications (APPs) from a wider ecosystem.

[0105] Step 102: Obtain the current set of external requests to be processed.

[0106] Step 103: Determine whether the new external request conflicts with the current set of external requests to be processed based on the request time of the new external request.

[0107] In the first embodiment of this application, before obtaining a new external request, the system has previously received external requests. If the previously received external requests are not processed in a timely manner, they are arbitrated and stored in the current set of external requests to be processed. The external requests in the current set of external requests to be processed are then processed according to the time after the arbitration.

[0108] In the first embodiment of this application, after obtaining a new external request, it is determined whether the new external request conflicts with the current set of external requests to be processed based on the request time of the new external request. Specifically, external requests that call the same service as the new external request are filtered from the current set of external requests to be processed. The request time of the new external request is compared with that of the external requests calling the same service to determine whether their request times overlap. If the request times overlap, it is determined that the new external request conflicts with the current set of external requests to be processed. In the case of a conflict, arbitration is required between the new external request and the conflicting external request.

[0109] Step 104: If the new external request conflicts with the current set of external requests to be processed, then perform external conflict arbitration based on the request service type of the new external request to obtain the first external arbitration result.

[0110] Furthermore, in the first embodiment of this application, if the new external request conflicts with the current set of external requests to be processed, external conflict arbitration is performed based on the request service type of the new external request to obtain a first external arbitration result, specifically as follows:

[0111] When the new external request conflicts with the current set of external requests to be processed, obtain multiple first external conflict requests that conflict with the new external request;

[0112] Based on the service type of the new external request and the first arbitration scheme, external conflict arbitration is conducted to obtain the first external arbitration result;

[0113] The first arbitration scheme includes:

[0114] When a new external request conflicts with the current set of external requests to be processed, the new external request and each of the first conflicting external requests are responded to in sequence according to the order of their request times.

[0115] In the first embodiment of this application, when a new external request conflicts with the current set of external requests to be processed, a first conflicting external request is first selected from the current set of external requests to be processed, and the first conflicting external request and the new external request are arbitrated. Specifically, the arbitration is based on the type of service to be invoked by the new external request, that is, based on the service type requested by the new external request.

[0116] Furthermore, in the first embodiment of this application, external conflict arbitration is conducted based on the request service type of the new external request and the first arbitration scheme to obtain a first external arbitration result, specifically as follows:

[0117] When the service type requested by the new external request is vehicle body control service, the result of the first external arbitration will be determined as the first arbitration scheme.

[0118] When the service type of the new external request is the vehicle body control anomaly feedback service, the first external arbitration result is determined to respond to both the new external request and multiple first external conflict requests simultaneously.

[0119] When the service type of the new external request is vehicle body control parameter setting service, the signal type of the new external request is determined. When the signal type of the new external request is the first signal type, the first external arbitration result is determined as the first arbitration scheme.

[0120] Optionally, the types of services invoked in new external requests can be broadly categorized into three types: vehicle body control services, vehicle body control anomaly feedback services, and vehicle body control parameter setting services. Different arbitration schemes can be adopted for different types of requested services.

[0121] Optionally, for the vehicle body control service, the corresponding arbitration strategy is to trigger requests sequentially according to their request times. Therefore, when a new external request and the first conflicting external request invoke the same vehicle body control service, the request times of each external request are compared, and the new external request and the first conflicting external request are triggered sequentially according to their request times.

[0122] Optionally, for the vehicle control anomaly feedback service, since each external request corresponds to a client that provides feedback, the local end can trigger multiple vehicle control anomaly feedback services simultaneously, thus providing feedback to each client respectively. Because the responding clients are different, there will be no conflict if vehicle control anomaly feedback services with conflicting request times are triggered simultaneously. Therefore, when the conflicting request service type is the vehicle control anomaly feedback service, there is no arbitration, and both new external requests and the first conflicting external request in the current set of pending external requests can be responded to simultaneously.

[0123] Optionally, the vehicle control parameter setting service includes several types, including Getter, Notifier, and Setter types. Some types of the vehicle control parameter setting service can respond to multiple requests simultaneously, while others can only respond sequentially. Therefore, when a conflicting new external request invokes the vehicle control parameter setting service, the signal type of the invoked service is determined, and different arbitration schemes are established based on the different signal types. For example, when the signal type is Getter and Notifier, the service can respond to multiple requests simultaneously, so there is no arbitration; when the signal type is Setter, the service responds sequentially according to the order of the requests.

[0124] Step 105: Based on the first external arbitration result, the new external request is formatted to form a new external command.

[0125] Furthermore, in the first embodiment of this application, based on the first external arbitration result, the new external request is format-converted to form a new external command, specifically as follows:

[0126] Determine the signal type of the new external request based on the input interface of the new external request;

[0127] Map the new external request to a first network signal;

[0128] The first network signal is obtained through inter-core communication, and the output interface of the first network signal is determined according to the signal type of the new external request;

[0129] The first network signal is converted into a new external command using the output interface of the first network signal.

[0130] In the first embodiment of this application, after the arbitration of the new external request and the current set of pending external requests is completed, the new external request and the current set of pending local commands are then arbitrated to resolve the conflict between the remote client (i.e., the remote end) and the local control end (i.e., the local end).

[0131] In the first embodiment of this application, the systems for arbitrating a new external request with the current set of external requests to be processed and arbitrating a new external request with the current set of local commands to be processed are different. Therefore, when arbitrating a new external request with the current set of local commands to be processed, the format of the new external request is first converted into a new external command.

[0132] Optionally, the process of converting a new external request into a new external command is as follows: the new external request is mapped to the corresponding CAN signal, and the CAN signal information in the corresponding CP environment is obtained through inter-core communication. The new external request and the current set of local commands to be processed are arbitrated in the CP environment. In the CP environment, multiple interfaces at the interface layer are simulated and combined to correspond to different signal types of the new external command.

[0133] Step 106: Obtain the current set of local commands to be processed.

[0134] Step 107: Determine whether the new external command conflicts with the current set of local commands to be processed.

[0135] In the first embodiment of this application, the system stores local commands from local control. If a received local command is not processed in a timely manner, it is arbitrated and stored in the current set of local commands to be processed. The local commands in the current set of local commands to be processed are processed according to the time after the arbitration.

[0136] In the first embodiment of this application, upon receiving a new external command transformed from a new external request, it is determined whether the new external command conflicts with the current set of local commands to be processed, based on the request time of the new external command. Specifically, local commands that call the same service as the new external command are filtered from the current set of local commands to be processed. The request time of the new external command is compared with the request time of the local command calling the same service to determine whether their request times overlap. If the request times overlap, it is determined that the new external command and the current set of local commands to be processed conflict. In the case of a conflict, arbitration is required between the new external command and the conflicting local command.

[0137] Step 108: If the new external command conflicts with the current set of local commands to be processed, local conflict arbitration is performed according to the request service type of the new external request to obtain a first local arbitration result.

[0138] Furthermore, in the first embodiment of this application, if the new external command conflicts with the current set of local commands to be processed, local conflict arbitration is performed based on the request service type of the new external request to obtain a first local arbitration result, specifically as follows:

[0139] When the new external command conflicts with the current set of local commands to be processed, obtain multiple first local conflict commands that conflict with the new external command;

[0140] If the request service type of the new external request is vehicle body control service, then determine the command type of the new external command;

[0141] Based on the command type of the new external command, the first arbitration scheme, and the second arbitration scheme, local conflict arbitration is performed to obtain the first local arbitration result;

[0142] The first arbitration scheme further includes:

[0143] When the new external command conflicts with the current set of local commands to be processed, the new external command and each of the first local conflict commands are responded to in sequence according to the order of their request times.

[0144] The second arbitration proposal includes:

[0145] When the new external command conflicts with the current set of local commands to be processed, the new external command is responded to to override each of the first conflicting local commands.

[0146] In the first embodiment of this application, when a new external command conflicts with the current set of local commands to be processed, the first conflicting local command is first selected from the current set of local commands to be processed, and the conflicting local command and the new external command are arbitrated. Specifically, local conflict arbitration is performed based on the service type requested by the new external request.

[0147] Furthermore, in the first embodiment of this application, local conflict arbitration is performed based on the command type of the new external command, the first arbitration scheme, and the second arbitration scheme to obtain a first local arbitration result, specifically as follows:

[0148] When the command type of the new external command is an event-triggered control command, the first local arbitration result is determined as the first arbitration scheme;

[0149] When the command type of the new external command is a status control command, the first local arbitration result will be determined as the second arbitration scheme;

[0150] When the command type of the new external command is a long-term triggered control command, the first local arbitration result will be determined as either the first arbitration scheme or the second arbitration scheme.

[0151] Optionally, local conflict arbitration only arbitrates new external requests whose service type is vehicle body control service. Therefore, when a new external command corresponds to a request service type of vehicle body control service, the command type of the new external command is determined. The command types of new external commands can be broadly categorized into three types: event-triggered control commands, status-triggered control commands, and long-term triggered control commands. Different arbitration schemes can be adopted for different command types.

[0152] Optionally, for event-triggered control commands, the corresponding arbitration strategy is to trigger them sequentially according to the order of their request times. Therefore, when a new external command and the first local conflicting command call the same vehicle control service, the request times of each command are compared for arbitration, and the new external command and the first local conflicting command are triggered sequentially according to the order of their request times. The command that responds later can override the command that has already been responded to.

[0153] Optionally, for state-based control commands, the corresponding arbitration strategy is to directly respond to the new external command, control the new external command to override the first local conflicting command being responded to, that is, control the new state to interrupt the old state and return the current value.

[0154] Optionally, for long-term triggered control commands, the corresponding arbitration strategy is defined according to the specific control strategy. It can be to trigger the new external command and the first local conflict command in the order of the request time, or to directly execute the new external command to override the first local conflict command.

[0155] Step 109: Drive the area controller according to the first local arbitration result.

[0156] In the first embodiment of this application, when a new external request is received, it is first subjected to external conflict arbitration with the current set of external requests to be processed, and an external arbitration result is obtained. Based on the external arbitration result, the new external request is converted into a new external command, and the new external command is subjected to local conflict arbitration with the current set of local commands to be processed, and a first local arbitration result is obtained. The region controller is driven according to the first local arbitration result. The region controller drives the execution of each request based on the first local arbitration result and feeds back the execution result.

[0157] Furthermore, in the first embodiment of this application, it also includes:

[0158] When a new local command is received, the request service type and request time of the new local command are obtained by parsing the new local command;

[0159] Based on the request time of the new local command, determine whether the new local command conflicts with the current set of local commands to be processed;

[0160] If the new local command conflicts with the current set of local commands to be processed, local conflict arbitration is performed based on the request service type of the new local command to obtain a second local arbitration result.

[0161] The region controller is driven based on the second local arbitration result.

[0162] In the first embodiment of this application, there may be conflicts among multiple local commands transmitted from the local end, where multiple commands simultaneously request to invoke the same service. Therefore, upon receiving a new local command from the local end, the new local command is first parsed to obtain the request service type and request time corresponding to the command. The request time is used to determine whether the new local command conflicts with the existing set of currently pending local commands, and the request service type is used to determine the arbitration scheme.

[0163] In the first embodiment of this application, before obtaining a new local command, the system has previously received local commands. If the previously received local commands are not processed in time, they are stored in the current set of local commands to be processed after arbitration, and the local commands in the current set of local commands to be processed are processed according to the time after arbitration.

[0164] In the first embodiment of this application, after obtaining a new local command, it is determined whether the new local command conflicts with the current set of local commands to be processed based on the request time of the new local command. Specifically, local commands that call the same service as the new local command are filtered from the current set of local commands to be processed. The request time of the new local command is compared with that of the local commands calling the same service to determine whether their request times overlap. If the request times overlap, it is determined that the new local command conflicts with the current set of local commands to be processed. In the case of a conflict, arbitration is required between the new local command and the conflicting local command.

[0165] Furthermore, in the first embodiment of this application, if the new local command conflicts with the current set of local commands to be processed, local conflict arbitration is performed based on the request service type of the new local command to obtain a second local arbitration result, specifically as follows:

[0166] When the new local command conflicts with the current set of local commands to be processed, obtain multiple second local conflict commands that conflict with the new local command.

[0167] If the request service type of the new local command is vehicle body control service, then determine the command type of the new local command;

[0168] When the command type of the new local command is an event-triggered control command, the second local arbitration result will be determined as the first arbitration scheme;

[0169] When the command type of the new local command is a status control command, the second local arbitration result will be determined as the second arbitration scheme;

[0170] When the command type of the new local command is a long-term triggered control command, the result of the second local arbitration will be determined as either the first arbitration scheme or the second arbitration scheme.

[0171] The first arbitration scheme further includes:

[0172] When the new local command conflicts with the current set of local commands to be processed, the new local command and each second local conflict command are responded to in the order of their request times.

[0173] The second arbitration proposal also includes:

[0174] When the new local command conflicts with the current set of local commands to be processed, the new local command is responded to to override each of the second conflicting local commands.

[0175] In the first embodiment of this application, when a new local command conflicts with the current set of local commands to be processed, a second conflicting local command is first selected from the current set of local commands to be processed, and the conflicting local command and the new local command are arbitrated. Specifically, the second local conflict arbitration is performed based on the service type requested by the new local command.

[0176] Optionally, the second local conflict arbitration only arbitrates new local commands whose requested service type is vehicle body control service. Therefore, when the requested service type of a new local command is vehicle body control service, the command type of the new local command is determined. The command types of new local commands can be broadly categorized into three types: event-triggered control commands, status-triggered control commands, and long-term triggered control commands. Different arbitration schemes can be adopted for different command types.

[0177] Optionally, regarding event-triggered control commands, the control computer updates and commands are only sent when the system's state changes reach a certain "significant" threshold. For event-triggered control commands, the corresponding arbitration strategy is to trigger them sequentially according to the request time. Therefore, when a new local command and a conflicting second local command invoke the same vehicle control service, the request times of each command are compared for arbitration. The new local command and the conflicting second local command are triggered sequentially according to the request time, with later responses overriding earlier responses.

[0178] Optionally, state-based control commands involve a method for generating control instructions based on the current state of the system. Unlike event-triggered control (responding to discrete events), state-based control is continuous and feedback-driven. Feedback closed-loop control refers to adjusting the control output in real time by continuously monitoring the state of the controlled object (such as position, velocity, temperature, etc.). State dependency means that the value of the control command directly depends on the current state of the system. Continuity means that control commands are typically generated continuously at fixed periods or as the state changes continuously. For state-based control commands, the corresponding arbitration strategy is to directly respond to the new local command, controlling the new local command to override the second conflicting local command being responded to; that is, controlling the new state interrupts the old state and returns the current value.

[0179] Optionally, Long-Period Triggered Control Commands involve a time-based, periodic control strategy, but their key characteristic is a relatively long trigger period. Long-Period Triggered Control Commands do not respond immediately to state changes, nor do they operate at high-frequency cycles on the microsecond or millisecond level. Instead, they execute control logic and output commands at preset, relatively long time intervals. For Long-Period Triggered Control Commands, the corresponding arbitration strategy is defined according to the specific control strategy. It can be to trigger new local commands and second conflicting local commands sequentially according to the request time order, or it can be to directly execute new external commands to override the second conflicting local commands.

[0180] In the first embodiment of this application, when a new local command is received, it is determined whether the new local command conflicts with the current set of local commands to be processed. If a conflict exists, the new local command and the current set of local commands to be processed are subjected to local conflict arbitration to obtain a second local arbitration result. The region controller is then driven based on the second local arbitration result. The region controller executes each command based on the second local arbitration result and feeds back the execution result.

[0181] In summary, the first embodiment of this application provides a vehicle body control arbitration method based on SOA services. This method involves: acquiring a new external request; parsing the new external request to obtain its request service type and request time; determining whether the new external request conflicts with the current set of external requests to be processed; if a conflict exists, performing external conflict arbitration to obtain a first external arbitration result; converting the format of the new external request to form a new external command; determining whether the new external command conflicts with the current set of local commands to be processed; if a conflict exists, performing local conflict arbitration to obtain a first local arbitration result; and driving the area controller based on the first local arbitration result. This application solves the priority and conflict issues between the local and remote ends of vehicle body control, saves equipment processing resources, greatly improves system compatibility, and reduces the coupling between services and signals.

[0182] Example 2

[0183] Referring to Figure 2, it is a schematic diagram of the structure of an embodiment of the vehicle body control arbitration system based on SOA services provided in this application. The vehicle body control arbitration system includes a central domain controller (VDC) and a regional controller (ZCU). The central domain controller (VDC) is used to execute the control strategy for vehicle body components, and the regional controller (ZCU) is used to execute the control drive for the vehicle body components. The arbitration strategy is deployed in the central domain controller (VDC), which includes an SOA service front-end processing module, an SOA service proxy module, a local control (SWC), and an arbitration (SWC).

[0184] Optionally, the SOA service front-end processing module is responsible for handling remote service calls. Upon receiving a service request from a remote end, it arbitrates the service request and provides a service response. Referring to Figure 3, which is a structural diagram of one embodiment of the SOA service front-end processing module provided in this application, the SOA service front-end processing module includes an SOA protocol conversion unit and a service arbitration unit. The SOA protocol conversion unit supports common protocol conversions, such as converting DDS and HTTP to SOME / IP, and can handle service calls from a wider range of ecosystem apps. For example, service requests from Windows apps on a Personal Computer (PC) and Android apps on a mobile device. The service arbitration unit is used to handle simultaneous service calls from multiple applications (i.e., clients) and to provide status feedback when the service is busy.

[0185] In the embodiments of this application, the Central Domain Controller (VDC), the Zone Controller (ZCU), the SOA Service Front-End Processing Module, the SOA Service Proxy Module, the Local Control SWC, the Arbitration SWC, the SOA Protocol Conversion Unit, the Service Arbitration Unit, the Inter-core Communication Unit, and the Service Mapping SWC may, for example, include one or more processors, controllers, or chips with communication interfaces capable of implementing communication protocols. If necessary, they may also include memory and related interfaces, system transmission buses, etc. The processors, controllers, or chips execute program-related code to implement corresponding functions.

[0186] As an example, suppose we receive service requests 1, 2, and 3 from multiple clients, where service requests 1 and 2 use non-SOME / IP protocols, while service request 3 uses the SOME / IP protocol. The SOA protocol conversion unit converts the non-SOME / IP service requests 1 and 2 into SOME / IP service requests and transmits the SOME / IP service request to the service arbitration unit. The service arbitration unit arbitrates service requests 1, 2, and 3, and after integration, outputs a SOME / IP request to the lower-level module (i.e., the SOA service proxy module).

[0187] Optionally, the specific arbitration strategy of the service arbitration unit is determined based on the service type of the service request, which includes body control service, body control anomaly feedback service, and body control parameter setting service.

[0188] For the vehicle body control service, a Method interface is used. The arbitration strategy is to trigger the calls sequentially according to their chronological order. For example, when the headlight control service is called by clients 1, 2, and 3 respectively, if client 1's call is set to "on", client 2's call is set to "off", and client 3's call is set to "on", then the arbitration strategy is to respond with "headlight on" → "off" → "on" in that order. In this case, the service calls received by the server (i.e., the service arbitration unit) in the order of client 1 → client 2 → client 3 are received. After receiving the SOME / IP response, the service arbitration unit returns the current service call status and sends the SOME / IP response back to the SOA protocol conversion unit, so that the SOA protocol conversion unit can send the service response back to client 1. While waiting for responses from clients 2 and 3, the service arbitration unit also sends a "please wait" result to clients 2 and 3.

[0189] For vehicle control anomaly feedback services, an Event interface is used. Triggered locally, the system is directly distributed by the server (i.e., the service arbitration unit) to each connected client, without the need for arbitration. Examples include services triggered by local control protection status or timed triggering.

[0190] For the vehicle body control parameter setting service, the Field interface is used. In this service, Getter and Notifier types do not require arbitration and can respond simultaneously to multiple requests; for Setter types, responses are sequential based on time. For example, in a Getter type request to obtain the current air conditioning temperature status, the server (i.e., the service arbitration unit) simultaneously distributes the air conditioning temperature status to the currently connected cockpit controller client (i.e., the local control terminal) and the user's mobile app. As another example, setting the target air conditioning temperature parameter is a Setter type request. The mobile app calls to set it to 25℃, while the cockpit human-machine interface app calls to set it to 30℃. The server (i.e., the service arbitration unit) receives the request from the mobile app first and should respond with the 25℃ setting value first, then change it to the 30℃ setting value.

[0191] Optionally, the service arbitrated by the SOA service front-end processing module enters the next-level SOA service proxy module. The SOA service proxy module implements SOA services, converting external requests into CMD commands in the AP environment and transmitting the SOA service requests from the external requests to the arbitration SWC. See Figure 4, which is a structural diagram of an embodiment of the SOA service proxy module provided in this application. The SOA service proxy module includes a SOME / IP interface, a service mapping APP, an inter-core communication unit, a service mapping SWC, and an RTE interface. The SOME / IP interface receives SOME / IP services. The service mapping APP maps the services to the corresponding CAN network signals according to the defined service matrix and obtains the CAN signal information in the corresponding CP environment through the inter-core communication unit. The service mapping SWC maps the CAN signal information according to the service type and outputs service commands through the corresponding RTE interface to complete the conversion from service requests to service commands.

[0192] Optionally, in a CP environment, the Method, Event, and Field interfaces can be mapped to each other through a combination of the Sender / Receiver (SR), Client-Server (CS), and Trigger interfaces in the RTE interface. Specifically: the Method interface defines a service corresponding to a CS type, and the service mapping SWC provides a CS interface for inter-core communication; the Field interface defines a service corresponding to an SR type, and the service mapping SWC provides an SR interface for inter-core communication; the Event interface defines a service corresponding to a CS type, and the service mapping SWC provides a CS interface for inter-core communication.

[0193] Optionally, the local control SWC obtains local control commands from the local end through switch detection and status detection, and transmits the local control commands to the arbitration SWC via the RTE interface. After receiving the CMD commands from the local control SWC in the CP environment and the CMD commands converted from the AP environment, the arbitration SWC performs final arbitration. The arbitration SWC performs arbitration operations in the CP environment, and its upper and lower level interfaces are both interfaces in the RTE environment. The arbitration approach of the arbitration SWC is consistent with that of the SOA service front-end processing module. The arbitration SWC only arbitrates body control commands. Different arbitration strategies are applied to different command types of body control commands.

[0194] Optionally, for event-triggered control commands, the corresponding arbitration strategy is to trigger them sequentially according to the request time, meaning the first command received responds first, and subsequent responses can overwrite earlier responses. For status-triggered control commands, the corresponding arbitration strategy is to execute them directly, overwriting the command currently being responded to, so that the new control state interrupts the old control state and returns the current value. For long-term triggered control commands, there are two arbitration strategies: one is to wait for the previous command to complete before executing the next command; the other is to interrupt the previous command and execute the new command directly. The arbitration strategy for long-term triggered control commands is defined by the specific control strategy.

[0195] Optionally, after the arbitration SWC obtains the final arbitration result, it issues the final control command to the area controller ZCU. The area controller ZCU is responsible for driving the execution and feeding back the execution result to the arbitration SWC, so that the arbitration SWC can respond to the SOA service front-end processing module with SOA services.

[0196] In the second embodiment of this application, the essential difference between local control and remote control lies in whether the communication is based on CAN signal communication or Ethernet SOA service communication; local and remote are not used as the basis for distinction. If the application is based on CAN signal communication, it is defined as local control; if it is based on Ethernet SOA service communication, it is defined as remote control. For example, if a cockpit controller application calls the vehicle body controller's lighting SOA service via the Ethernet SOA / IP protocol, this application is also defined as remote control. Therefore, the local control end uses CAN signal communication, while the remote client uses Ethernet SOA service communication. The external client may be either a local control end or a remote client.

[0197] In summary, the second embodiment of this application provides a vehicle body control arbitration system based on SOA services. This intelligent vehicle lighting system includes a central domain controller (VDC) and a regional controller (ZCU). The central domain controller (VDC) includes an SOA service front-end processing module, an SOA service proxy module, a local control (SWC), and an arbitration (SWC). The SOA service front-end processing module handles conflicts arising from multiple clients simultaneously requesting to call the same service. The arbitration (SWC) handles the priority issue between local control and remote service call control, ultimately unifying control commands and sending them to the downstream node (ZCU) for execution. This application provides a general arbitration software architecture that resolves conflicts between services and the priority issue between local and remote control, significantly improving system compatibility and reducing the coupling between services and signals.

[0198] Example 3

[0199] Referring to Figure 5, it is a structural schematic diagram of an embodiment of the vehicle body control arbitration device based on SOA services provided in this application. The device includes a parsing module 201, a first acquisition module 202, a first judgment module 203, a first arbitration module 204, a conversion module 205, a second acquisition module 206, a second judgment module 207, a second arbitration module 208, and a driving module 209.

[0200] The parsing module 201 is used to obtain new external requests, and to obtain the request service type and request time of the new external requests by parsing the new external requests;

[0201] The first acquisition module 202 is used to acquire the current set of external requests to be processed;

[0202] The first judgment module 203 is used to determine whether there is a conflict between the new external request and the current set of external requests to be processed, based on the request time of the new external request.

[0203] The first arbitration module 204 is used to conduct external conflict arbitration based on the request service type of the new external request if the new external request conflicts with the current set of external requests to be processed, and to obtain an external arbitration result.

[0204] The conversion module 205 is used to convert the new external request into a new external command based on the external arbitration result;

[0205] The second acquisition module 206 is used to acquire the current set of local commands to be processed;

[0206] The second judgment module 207 is used to determine whether the new external command conflicts with the current local command set to be processed.

[0207] The second arbitration module 208 is used to perform local conflict arbitration based on the request service type of the new external request if the new external command conflicts with the current set of local commands to be processed, and to obtain a local arbitration result.

[0208] The driver module 209 is used to drive the area controller according to the local arbitration result.

[0209] In the embodiments of this application, the parsing module 201, the first acquisition module 202, the first judgment module 203, the first arbitration module 204, the conversion module 205, the second acquisition module 206, the second judgment module 207, the second arbitration module 208, and the driver module 209 can each be one or more processors, controllers, or chips with communication interfaces capable of implementing communication protocols. If necessary, they may also include memory and related interfaces, system transmission buses, etc. The processor, controller, or chip executes program-related code to implement corresponding functions. Alternatively, an alternative solution is that the parsing module 201, the first acquisition module 202, the first judgment module 203, the first arbitration module 204, the conversion module 205, the second acquisition module 206, the second judgment module 207, the second arbitration module 208, and the driver module 209 share an integrated chip or share a processor, controller, memory, or other devices. The shared processor, controller, or chip executes program-related code to implement corresponding functions.

[0210] Furthermore, in the third embodiment of this application, if the new external request conflicts with the current set of external requests to be processed, external conflict arbitration is performed based on the request service type of the new external request to obtain a first external arbitration result, specifically as follows:

[0211] When the new external request conflicts with the current set of external requests to be processed, obtain multiple first external conflict requests that conflict with the new external request;

[0212] Based on the service type of the new external request and the first arbitration scheme, external conflict arbitration is conducted to obtain the first external arbitration result;

[0213] The first arbitration scheme includes:

[0214] When a new external request conflicts with the current set of external requests to be processed, the new external request and each of the first conflicting external requests are responded to in sequence according to the order of their request times.

[0215] Furthermore, in the third embodiment of this application, if the new external command conflicts with the current set of local commands to be processed, local conflict arbitration is performed based on the request service type of the new external request to obtain a first local arbitration result, specifically as follows:

[0216] When the new external command conflicts with the current set of local commands to be processed, obtain multiple first local conflict commands that conflict with the new external command;

[0217] If the request service type of the new external request is vehicle body control service, then determine the command type of the new external command;

[0218] Based on the command type of the new external command, the first arbitration scheme, and the second arbitration scheme, local conflict arbitration is performed to obtain the first local arbitration result;

[0219] The first arbitration scheme further includes:

[0220] When the new external command conflicts with the current set of local commands to be processed, the new external command and each of the first local conflict commands are responded to in sequence according to the order of their request times.

[0221] The second arbitration proposal includes:

[0222] When the new external command conflicts with the current set of local commands to be processed, the new external command is responded to to override each of the first conflicting local commands.

[0223] Furthermore, in the third embodiment of this application, external conflict arbitration is conducted based on the request service type of the new external request and the first arbitration scheme to obtain a first external arbitration result, specifically as follows:

[0224] When the service type requested by the new external request is vehicle body control service, the result of the first external arbitration will be determined as the first arbitration scheme.

[0225] When the service type of the new external request is the vehicle body control anomaly feedback service, the first external arbitration result is determined to respond to both the new external request and multiple first external conflict requests simultaneously.

[0226] When the service type of the new external request is vehicle body control parameter setting service, the signal type of the new external request is determined. When the signal type of the new external request is the first signal type, the first external arbitration result is determined as the first arbitration scheme.

[0227] Furthermore, in the third embodiment of this application, based on the first external arbitration result, the new external request is format-converted to form a new external command, specifically as follows:

[0228] Determine the signal type of the new external request based on the input interface of the new external request;

[0229] Map the new external request to a first network signal;

[0230] The first network signal is obtained through inter-core communication, and the output interface of the first network signal is determined according to the signal type of the new external request;

[0231] The first network signal is converted into a new external command using the output interface of the first network signal.

[0232] Furthermore, in the third embodiment of this application, local conflict arbitration is performed based on the command type of the new external command, the first arbitration scheme, and the second arbitration scheme to obtain a first local arbitration result, specifically as follows:

[0233] When the command type of the new external command is an event-triggered control command, the first local arbitration result is determined as the first arbitration scheme;

[0234] When the command type of the new external command is a status control command, the first local arbitration result will be determined as the second arbitration scheme;

[0235] When the command type of the new external command is a long-term triggered control command, the first local arbitration result will be determined as either the first arbitration scheme or the second arbitration scheme.

[0236] Furthermore, in the third embodiment of this application, before obtaining a new external request, the following steps are also included:

[0237] When a new request is received from an external client, the new request is converted to a new external request.

[0238] Furthermore, in the third embodiment of this application, the vehicle body control arbitration method based on SOA services further includes:

[0239] When a new local command is received, the request service type and request time of the new local command are obtained by parsing the new local command;

[0240] Based on the request time of the new local command, determine whether the new local command conflicts with the current set of local commands to be processed;

[0241] If the new local command conflicts with the current set of local commands to be processed, local conflict arbitration is performed based on the request service type of the new local command to obtain a second local arbitration result.

[0242] The region controller is driven based on the second local arbitration result.

[0243] Furthermore, in the third embodiment of this application, if the new local command conflicts with the current set of local commands to be processed, local conflict arbitration is performed based on the request service type of the new local command to obtain a second local arbitration result, specifically as follows:

[0244] When the new local command conflicts with the current set of local commands to be processed, obtain multiple second local conflict commands that conflict with the new local command.

[0245] If the request service type of the new local command is vehicle body control service, then determine the command type of the new local command;

[0246] When the command type of the new local command is an event-triggered control command, the second local arbitration result will be determined as the first arbitration scheme;

[0247] When the command type of the new local command is a status control command, the second local arbitration result will be determined as the second arbitration scheme;

[0248] When the command type of the new local command is a long-term triggered control command, the result of the second local arbitration will be determined as either the first arbitration scheme or the second arbitration scheme.

[0249] The first arbitration scheme further includes:

[0250] When the new local command conflicts with the current set of local commands to be processed, the new local command and each second local conflict command are responded to in the order of their request times.

[0251] The second arbitration proposal also includes:

[0252] When the new local command conflicts with the current set of local commands to be processed, the new local command is responded to to override each of the second conflicting local commands.

[0253] In summary, the third embodiment of this application provides a vehicle body control arbitration device based on SOA services. Based on the organic integration of modules, it acquires new external requests, parses the new external requests to obtain their request service type and request time, determines whether the new external request conflicts with the current set of external requests to be processed, and if a conflict exists, performs external conflict arbitration to obtain a first external arbitration result. It then converts the format of the new external request to form a new external command, determines whether the new external command conflicts with the current set of local commands to be processed, and if a conflict exists, performs local conflict arbitration to obtain a first local arbitration result. Finally, it drives the area controller based on the first local arbitration result. This application solves the priority and conflict problems between the local and remote ends of vehicle body control, saves equipment processing resources, greatly improves system compatibility, and reduces the coupling between services and signals.

[0254] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this application. It should be understood that the above descriptions are merely specific embodiments of this application and are not intended to limit the scope of protection of this application. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application for those skilled in the art.

Claims

1. A SOA service-based body control arbitration method, wherein, include: Obtain new external requests, and parse the new external requests to obtain the request service type and request time of the new external requests; Get the current set of external requests to be processed; Determine whether the new external request conflicts with the current set of external requests to be processed based on the request time of the new external request; If the new external request conflicts with the current set of external requests to be processed, external conflict arbitration is performed based on the request service type of the new external request to obtain a first external arbitration result. Based on the first external arbitration result, the new external request is formatted to form a new external command; Get the current set of local commands to be processed; Determine whether the new external command conflicts with the current set of local commands to be processed; If the new external command conflicts with the current set of local commands to be processed, local conflict arbitration is performed based on the request service type of the new external request to obtain a first local arbitration result. Drive the region controller based on the first local arbitration result.

2. The SOA service-based body control arbitration method of claim 1, wherein, If the new external request conflicts with the current set of pending external requests, external conflict arbitration is performed based on the request service type of the new external request to arrive at a first external arbitration result, specifically as follows: When the new external request conflicts with the current set of external requests to be processed, obtain multiple first external conflict requests that conflict with the new external request; Based on the service type of the new external request and the first arbitration scheme, external conflict arbitration is conducted to obtain the first external arbitration result; The first arbitration scheme includes: When a new external request conflicts with the current set of external requests to be processed, the new external request and each of the first conflicting external requests are responded to in sequence according to the order of their request times.

3. The SOA service-based body control arbitration method of claim 2, wherein, If the new external command conflicts with the current set of local commands to be processed, local conflict arbitration is performed based on the request service type of the new external request to obtain a first local arbitration result, specifically as follows: When the new external command conflicts with the current set of local commands to be processed, obtain multiple first local conflict commands that conflict with the new external command; If the request service type of the new external request is vehicle body control service, then determine the command type of the new external command; Based on the command type of the new external command, the first arbitration scheme, and the second arbitration scheme, local conflict arbitration is performed to obtain the first local arbitration result; The first arbitration scheme further includes: When the new external command conflicts with the current set of local commands to be processed, the new external command and each of the first local conflict commands are responded to in sequence according to the order of their request times. The second arbitration proposal includes: When the new external command conflicts with the current set of local commands to be processed, the new external command is responded to to override each of the first conflicting local commands.

4. The SOA service-based body control arbitration method of claim 2, wherein, The external conflict arbitration based on the request service type of the new external request and the first arbitration scheme, to obtain the first external arbitration result, is as follows: When the service type requested by the new external request is vehicle body control service, the result of the first external arbitration will be determined as the first arbitration scheme. When the service type of the new external request is the vehicle body control anomaly feedback service, the first external arbitration result is determined to respond to both the new external request and multiple first external conflict requests simultaneously. When the service type of the new external request is vehicle body control parameter setting service, the signal type of the new external request is determined. When the signal type of the new external request is the first signal type, the first external arbitration result is determined as the first arbitration scheme.

5. The SOA service-based body control arbitration method of claim 1, wherein, The step of converting the new external request into a new external command based on the first external arbitration result specifically involves: Determine the signal type of the new external request based on the input interface of the new external request; Map the new external request to a first network signal; The first network signal is obtained through inter-core communication, and the output interface of the first network signal is determined according to the signal type of the new external request. The first network signal is converted into a new external command using the output interface of the first network signal.

6. The SOA service-based body control arbitration method of claim 3, wherein, The local conflict arbitration based on the command type of the new external command, the first arbitration scheme, and the second arbitration scheme, to obtain the first local arbitration result, is as follows: When the command type of the new external command is an event-triggered control command, the first local arbitration result is determined as the first arbitration scheme; When the command type of the new external command is a status control command, the first local arbitration result will be determined as the second arbitration scheme; When the command type of the new external command is a long-term triggered control command, the first local arbitration result will be determined as either the first arbitration scheme or the second arbitration scheme.

7. The SOA service-based body control arbitration method of claim 1, wherein, Before obtaining new external requests, the following is also included: When a new request is received from an external client, the new request is converted to a new external request.

8. The SOA service-based body control arbitration method according to any one of claims 1-7, wherein, Also includes: When a new local command is received, the request service type and request time of the new local command are obtained by parsing the new local command; Based on the request time of the new local command, determine whether the new local command conflicts with the current set of local commands to be processed; If the new local command conflicts with the current set of local commands to be processed, local conflict arbitration is performed based on the request service type of the new local command to obtain a second local arbitration result. The region controller is driven based on the second local arbitration result.

9. The SOA service-based body control arbitration method of claim 8, wherein, If the new local command conflicts with the current set of local commands to be processed, local conflict arbitration is performed based on the request service type of the new local command to obtain a second local arbitration result, specifically as follows: When the new local command conflicts with the current set of local commands to be processed, obtain multiple second local conflict commands that conflict with the new local command. If the request service type of the new local command is vehicle body control service, then determine the command type of the new local command; When the command type of the new local command is an event-triggered control command, the second local arbitration result will be determined as the first arbitration scheme; When the command type of the new local command is a status control command, the second local arbitration result will be determined as the second arbitration scheme; When the command type of the new local command is a long-term triggered control command, the result of the second local arbitration will be determined as either the first arbitration scheme or the second arbitration scheme. The first arbitration scheme further includes: When the new local command conflicts with the current set of local commands to be processed, the new local command and each second local conflict command are responded to in the order of their request times. The second arbitration proposal also includes: When the new local command conflicts with the current set of local commands to be processed, the new local command is responded to to override each of the second conflicting local commands.

10. A SOA service-based body control arbitration apparatus, wherein, include: The system comprises a parsing module, a first acquisition module, a first judgment module, a first arbitration module, a conversion module, a second acquisition module, a second judgment module, a second arbitration module, and a driver module. The parsing module is used to obtain new external requests, and to obtain the request service type and request time of the new external requests by parsing the new external requests; The first acquisition module is used to acquire the current set of external requests to be processed; The first judgment module is used to determine whether there is a conflict between the new external request and the current set of external requests to be processed, based on the request time of the new external request; The first arbitration module is used to perform external conflict arbitration based on the request service type of the new external request if the new external request conflicts with the current set of external requests to be processed, and to obtain a first external arbitration result. The conversion module is used to convert the format of the new external request based on the first external arbitration result, forming a new external command; The second acquisition module is used to acquire the current set of local commands to be processed; The second judgment module is used to determine whether the new external command conflicts with the current set of local commands to be processed; The second arbitration module is used to perform local conflict arbitration based on the request service type of the new external request if the new external command conflicts with the current set of local commands to be processed, and to obtain a first local arbitration result. The driving module is used to drive the area controller according to the first local arbitration result.

11. The SOA service-based body control arbitration apparatus according to claim 1, wherein, The first arbitration module is specifically configured as follows: When the new external request conflicts with the current set of external requests to be processed, obtain multiple first external conflict requests that conflict with the new external request; Based on the service type of the new external request and the first arbitration scheme, external conflict arbitration is conducted to obtain the first external arbitration result; The first arbitration scheme includes: When a new external request conflicts with the current set of external requests to be processed, the new external request and each of the first conflicting external requests are responded to in sequence according to the order of their request times.

12. The SOA service-based body control arbitration apparatus according to claim 11, wherein, The second arbitration module is specifically configured as follows: When the new external command conflicts with the current set of local commands to be processed, obtain multiple first local conflict commands that conflict with the new external command; If the request service type of the new external request is vehicle body control service, then determine the command type of the new external command; Based on the command type of the new external command, the first arbitration scheme, and the second arbitration scheme, local conflict arbitration is performed to obtain the first local arbitration result; The first arbitration scheme further includes: When the new external command conflicts with the current set of local commands to be processed, the new external command and each of the first local conflict commands are responded to in sequence according to the order of their request times. The second arbitration proposal includes: When the new external command conflicts with the current set of local commands to be processed, the new external command is responded to to override each of the first conflicting local commands.

13. The SOA service-based body control arbitration apparatus of claim 11, wherein, The first arbitration module is specifically configured as follows: When the service type requested by the new external request is vehicle body control service, the result of the first external arbitration will be determined as the first arbitration scheme. When the service type of the new external request is the vehicle body control anomaly feedback service, the first external arbitration result is determined to respond to both the new external request and multiple first external conflict requests simultaneously. When the service type of the new external request is vehicle body control parameter setting service, the signal type of the new external request is determined. When the signal type of the new external request is the first signal type, the first external arbitration result is determined as the first arbitration scheme.

14. The SOA service-based body control arbitration apparatus of claim 11, wherein, The conversion module is specifically configured as follows: Determine the signal type of the new external request based on the input interface of the new external request; Map the new external request to a first network signal; The first network signal is obtained through inter-core communication, and the output interface of the first network signal is determined according to the signal type of the new external request; The first network signal is converted into a new external command using the output interface of the first network signal.

15. The SOA service-based body control arbitration apparatus of claim 12, wherein, The second arbitration module is specifically configured as follows: When the command type of the new external command is an event-triggered control command, the first local arbitration result is determined as the first arbitration scheme; When the command type of the new external command is a status control command, the first local arbitration result will be determined as the second arbitration scheme; When the command type of the new external command is a long-term triggered control command, the first local arbitration result will be determined as either the first arbitration scheme or the second arbitration scheme.

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