CN114840189A - A framework system and design method for abstract management of sensor data - Google Patents

Abstract

The invention discloses a frame system for abstract management of sensor data and a design method thereof, wherein the system comprises an application program, a middle layer interface mapping library and a sensor abstract library module; the sensor abstraction library module comprises a plurality of sensor abstraction libraries, the plurality of sensor abstraction libraries are provided with uniform abstraction library interfaces, all sensors of the same type are packaged in the same sensor abstraction library, and sensors of different types are packaged in different sensor abstraction libraries; the middle layer interface mapping library is in communication connection with the sensor abstraction library module through a uniform abstraction library interface so as to shield sensor differences in different sensor abstraction libraries; the intermediate layer interface mapping library is provided with a mapping library interface and is in communication connection with the application program through the mapping library interface. The invention can realize the decoupling between the upper application program and the bottom sensor, so that the upper application program uses a uniform data interface and is not influenced by the replacement of the lower sensor.

Description

A framework system and design method for abstract management of sensor data

technical field

The invention relates to the technical field of intelligent vehicles, in particular to a framework system and a design method for abstractly managing sensor data.

Background technique

As automobiles enter a period of rapid development of intelligence, automobiles have become an intelligent platform that deploys image recognition algorithms, navigation and positioning algorithms, decision-making and planning algorithms and other algorithms; with the increasing number and types of sensors deployed on the platform In many cases, the architecture of the automotive controller has also changed from the previous single MCU (micro control unit) main chip to the MCU+MPU (microprocessor) domain controller architecture.

Under the traditional development framework, various applications will directly read data from each sensor. During the data reading process, it depends on the operating system and specific devices, so the coupling between the application and the sensor is high, so that This makes it very inconvenient to modify the application code of the application program accordingly if the sensor is replaced during the development process.

SUMMARY OF THE INVENTION

In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is: how to provide a method that can realize the decoupling between the upper-layer application program and the bottom-layer sensor, so that the upper-layer application program uses a unified data interface without being affected by the lower-layer sensor A framework system and design method for abstract management of sensor data affecting replacement.

In order to solve the above-mentioned technical problems, the present invention adopts the following technical solutions:

A framework system for abstract management of sensor data, including an application program, a middle-tier interface mapping library, and a sensor abstract library module;

The sensor abstract library module includes a plurality of sensor abstract libraries, the plurality of sensor abstract libraries have a unified abstract library interface, and all sensors of the same type are encapsulated in the same sensor abstract library, and different types of sensors are encapsulated in the same sensor abstract library. Encapsulated in different said sensor abstraction libraries;

The intermediate layer interface mapping library is connected to the sensor abstract library module through a unified abstract library interface, so as to shield the sensor differences in different sensor abstract libraries;

The middle-level interface mapping library is provided with a mapping library interface, and the middle-level interface mapping library communicates with the application program through the mapping library interface.

A framework design method for abstract management of sensor data, using the above-mentioned framework system for abstract management of sensor data, the method reads the configuration file passed from the application program by the middle layer interface mapping library, and according to The configuration file initializes the sensor abstract library that needs to be used, and then dynamically binds the sensor abstract library used according to the initialized sensor abstract library and the file handle mapping relationship of each sensor abstract library in the sensor abstract library module, to The functions in the sensor abstract library are called through the interface provided by the middle layer interface mapping library to the application program.

Preferably, the information in the configuration file includes: type and installation location information of the sensor to be used.

Preferably, the process of initializing the configuration file by the middle-layer interface mapping library includes the following steps:

Step 1) The middle layer interface mapping library parses the configuration file passed by the application, and obtains the type of each sensor to be used;

Step 2) Whether all types of sensors have been processed, if so, go to step 8), if not, go to step 3)

Step 3) The middle layer interface mapping library checks whether the sensor is in the support list of the middle layer interface mapping library according to the type of the sensor obtained in step 1), if so, execute step 4), if not, perform error handling and Return to step 2);

Step 4) The middle layer interface mapping library checks whether the sensor abstract library corresponding to the sensor in step 3) has been loaded, if so, execute step 6), otherwise execute step 5);

Step 5) Find the corresponding path of the sensor abstract library according to the type of the sensor and load the sensor abstract library;

Step 6) Initialize the sensor in the sensor abstract library using the file handle of the sensor abstract library;

Step 7) Return to step 2);

Step 8) End.

Preferably, the method for invoking the function in the sensor abstract library to the interface provided by the middle layer interface mapping library to the application program includes the following steps:

Step S1) The middle layer interface mapping library parses the configuration file transmitted by the application program, obtains the position information of the sensor to be used, and retrieves the file handle in the corresponding sensor abstract library according to the position information of the sensor;

Step S2) take out the corresponding interface function from the file handle in the sensor abstract library;

Step S3) execute the function in step S2);

Step S4) returns the execution result.

Preferably, the installation position information of the sensor is defined by the method of sensor instance marking.

A storage medium stores one or more programs, and when the one or more programs are run by a processor, executes the steps of the above-mentioned framework design method for abstract management of sensor data.

Compared with the prior art, the present invention has the following advantages:

1. The present invention is suitable for the abstract management of sensor data on the automotive intelligent platform, abstracts all sensors into a unified abstract library interface, and uses the unified abstract library interface to abstract sensors of different manufacturers and different types into independent dynamic sensor abstractions At the same time, a middle-layer interface mapping library that manages each sensor abstract library is introduced to decouple the upper-layer application and the underlying sensor. The upper-layer application directly calls the mapping library interface of the middle-layer interface mapping library, so that the upper-layer application can use The unified data interface does not need to pay attention to the specific operation of the underlying sensor.

2. In the present invention, if a new sensor needs to be connected or a sensor of another manufacturer needs to be replaced, the configuration file in the application program can be directly modified without modifying the application code, and the operation is simple and convenient.

3. The information included in the configuration file of the present invention includes: the type of the sensor to be accessed and the access location, the access location and access type of the sensor depend on the design of the vehicle platform, and the application program only needs to use the middle layer interface mapping library when calling the function. In the unified interface, the data of the corresponding sensor can be obtained by specifying the sensor access location for initialization.

4. The present invention encapsulates the specific operations of each type of sensor of each manufacturer into the corresponding sensor abstract library, and the same type of sensor uses the same data abstract interface. For example, all camera abstract libraries implement the same abstract function interface.

5. The present invention reads the configuration file from the intermediate layer interface mapping library, and initializes it according to the configuration file, realizes the binding of the function interface provided by the intermediate mapping library and the sensor abstract library, and realizes the binding of different sensors according to the different configuration files. , to shield the specific operations of the underlying sensors, and let the upper-level application developers pay more attention to the functional logic of the program, so as to realize the decoupling of each functional module.

6. The sensor abstraction library at the bottom of the present invention encapsulates the specific operation of the sensor through a predefined data operation interface. Different manufacturers and different types of sensors of the same type provide a uniformly defined abstract library interface to the intermediate layer interface mapping library. In this way, the differences of the sensors are shielded, and the independent development of the interface mapping library of the middle layer is realized. During initialization, the middle-level interface mapping library parses the configuration file passed by the upper-layer application. The middle-level interface mapping library maintains a list of sensor abstract libraries it supports. When the upper-layer application calls the function of the middle-level interface mapping library, it needs to pass the sensor. The location information of the sensor is taken as a parameter, and the middle-level interface mapping library implements the call to the function in the underlying sensor abstract library according to the initialized sensor location information and the file handle mapping relationship in the sensor abstract library.

Description of drawings

1 is a system block diagram of a framework system for abstractly managing sensor data according to the present invention;

Fig. 2 is the flow chart that the middle layer interface mapping library initializes the configuration file in the frame design method for abstract management of sensor data according to the present invention;

FIG. 3 is a flow chart of calling the functions in the sensor abstract library from the interface provided by the interface mapping library of the middle layer to the application program in the framework design method for abstract management of sensor data according to the present invention.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings and embodiments.

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, embodiments of the present invention. The components of the embodiments of the invention generally described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations. Thus, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further definition and explanation in subsequent figures. In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the product of the invention is usually placed in use, only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying The device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first", "second", "third", etc. are only used to differentiate the description and should not be construed to indicate or imply relative importance. Furthermore, terms such as "horizontal", "vertical" and the like do not imply that components are required to be absolutely horizontal or overhang, but rather may be slightly inclined. For example, "horizontal" simply means that its direction is more horizontal than "vertical", it does not mean that the structure must be completely horizontal, but can be slightly inclined. In the description of the present invention, it should also be noted that, unless otherwise expressly specified and limited, the terms "arrangement", "installation", "connection" and "connection" should be understood in a broad sense, for example, it may be a fixed connection, It can also be a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or the internal communication between the two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

As shown in FIG. 1, a framework system for abstract management of sensor data includes an application program, a middle-tier interface mapping library, and a sensor abstract library module;

The sensor abstract library module includes multiple sensor abstract libraries, multiple sensor abstract libraries have a unified abstract library interface, and all sensors of the same type are encapsulated in the same sensor abstract library, and different types of sensors are encapsulated in different sensor abstractions library;

The middle layer interface mapping library communicates with the sensor abstract library module through a unified abstract library interface to shield the sensor differences in different sensor abstract libraries;

The middle layer interface mapping library is provided with a mapping library interface, and the middle layer interface mapping library communicates and connects with the application program through the mapping library interface.

A framework design method for abstract management of sensor data, using the above-mentioned framework system for abstract management of sensor data, the method reads the configuration file passed from the application program by the middle layer interface mapping library, and initializes the needs according to the configuration file. The sensor abstraction library used, and then dynamically bind the sensor abstraction library used according to the initialized sensor abstraction library and the file handle mapping relationship of each sensor abstraction library in the sensor abstraction library module, so as to provide the application program through the middle layer interface mapping library The interface calls functions in the sensor abstraction library.

In this embodiment, the information in the configuration file includes: type and installation location information of the sensor to be used.

As shown in FIG. 2, in this embodiment, the process of initializing the configuration file by the interface mapping library of the middle layer includes the following steps:

Step 1) The middle layer interface mapping library parses the configuration file passed by the application, and obtains the type of each sensor that needs to be used;

Step 2) Whether all types of sensors have been processed, if so, go to step 8), if not, go to step 3)

Step 3) The middle-layer interface mapping library checks whether the sensor is in the support list of the middle-layer interface mapping library according to the type of the sensor obtained in step 1). If so, go to step 4). If not, perform error handling and return to step 2. );

Step 4) The intermediate layer interface mapping library checks whether the sensor abstract library corresponding to the sensor in step 3) has been loaded, if so, go to step 6), if not, go to step 5);

Step 5) Find the path of the corresponding sensor abstract library according to the type of the sensor and load the sensor abstract library;

Step 6) Initialize the sensor in the sensor abstract library using the file handle of the sensor abstract library;

Step 7) Return to step 2);

Step 8) End.

As shown in FIG. 3, in this embodiment, the method for calling the function in the sensor abstract library to the interface provided by the interface mapping library of the middle layer to the application program includes the following steps:

Step S1) The middle layer interface mapping library parses the configuration file passed by the application, obtains the position information of the sensor to be used, and retrieves the file handle in the corresponding sensor abstract library according to the position information of the sensor;

Step S2) take out the corresponding interface function from the file handle in the sensor abstract library;

Step S3) execute the function in step S2);

Step S4) returns the execution result.

In this embodiment, the installation position information of the sensor is defined by the method of tagging the sensor instance.

In specific use, the installation position of the sensor is such as left front and left rear, but in the code, the words such as left front and left rear will not be written, and the method of sensor instance mark will be used to define its installation position, such as the sensor identification mark number is 1 It means that the installation position of the sensor is the left front, and 2 means that the installation position of the sensor is the left rear. Therefore, according to the number marked by the sensor instance, it can correspond to its corresponding installation position information.

This solution also provides a storage medium, where one or more programs are stored in the storage medium, and when the one or more programs are run by the processor, the steps of the above-mentioned framework design method for abstract management of sensor data are executed.

Compared with the prior art, the invention is suitable for the abstract management of sensor data on the automobile intelligent platform, abstracts all sensors into a unified abstract library interface, and uses the unified abstract library interface to abstract sensors of different manufacturers and types as An independent dynamic sensor abstract library, and a middle-layer interface mapping library that manages each sensor abstract library is introduced to decouple the upper-layer application and the underlying sensor. The upper-layer application directly calls the mapping library interface of the middle-layer interface mapping library. Make the upper-layer application use a unified data interface without paying attention to the specific operation of the underlying sensor. In the present invention, if a new sensor needs to be connected or a sensor of another manufacturer needs to be replaced, the configuration file in the application program can be directly modified without modifying the application code, and the operation is simple and convenient. The information included in the configuration file of the present invention includes: the type of the sensor to be accessed and the access position, the access position and the access type of the sensor depend on the design of the vehicle platform, and the application program only needs to use the unified interface mapping library in the middle layer when calling the function. The interface of the specified sensor access position can be initialized to obtain the data of the corresponding sensor. The present invention encapsulates the specific operation interface of each type of sensor of each manufacturer into the corresponding sensor abstract library, and the same type of sensor uses the same data abstract interface, for example, all camera abstract libraries implement the same abstraction functional interface. The invention reads the configuration file from the intermediate layer interface mapping library, and initializes it according to the configuration file to realize the binding of the function interface provided by the intermediate mapping library and the sensor abstract library, and realizes the binding of different sensors according to the different configuration files. The specific operation of the underlying sensor allows the upper-level application developers to pay more attention to the functional logic of the program, thereby realizing the decoupling of each functional module. The sensor abstract library at the bottom of the present invention encapsulates the specific operation of the sensor through a predefined data operation interface. Different manufacturers and different types of sensors of the same type provide a uniformly defined abstract library interface to the intermediate layer interface mapping library. In this way, the difference of sensors is shielded, and the independent development of the interface mapping library of the middle layer is realized. During initialization, the middle-level interface mapping library parses the configuration file passed by the upper-layer application. The middle-level interface mapping library maintains a list of sensor abstract libraries it supports. When the upper-layer application calls the function of the middle-level interface mapping library, it needs to pass the sensor. The location information of the sensor is taken as a parameter, and the middle-level interface mapping library implements the call to the function in the underlying sensor abstract library according to the initialized sensor location information and the file handle mapping relationship in the sensor abstract library.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit the technical solutions. Those skilled in the art should understand that those technical solutions of the present invention are modified or equivalently replaced without departing from the present technology. The purpose and scope of the solution should be included in the scope of the claims of the present invention.

Claims (7)

1. A frame system for abstract management of sensor data is characterized by comprising an application program, a middle layer interface mapping library and a sensor abstract library module;

the sensor abstraction library module comprises a plurality of sensor abstraction libraries, the plurality of sensor abstraction libraries are provided with uniform abstraction library interfaces, all sensors of the same type are packaged in the same sensor abstraction library, and sensors of different types are packaged in different sensor abstraction libraries;

the intermediate layer interface mapping library is in communication connection with the sensor abstraction library module through a uniform abstraction library interface so as to shield sensor differences in different sensor abstraction libraries;

the intermediate layer interface mapping library is provided with a mapping library interface and is in communication connection with the application program through the mapping library interface.

2. A framework design method for abstract management of sensor data is characterized in that the framework system for abstract management of sensor data as claimed in claim 1 is adopted, the method reads configuration files transferred from the application program by the middle layer interface mapping library, initializes the sensor abstraction library required to be used according to the configuration files, and then dynamically binds the used sensor abstraction library according to the initialized sensor abstraction library and the file handle mapping relation of each sensor abstraction library in the sensor abstraction library module, so as to call functions in the sensor abstraction library through the middle layer interface mapping library to an interface provided by the application program.

3. A method of framework design for abstract management of sensor data according to claim 2, wherein the information in the configuration file comprises: the type of sensor used and the installation location information are required.

4. A framework design method for abstract management of sensor data according to claim 3, wherein the procedure of initializing configuration files by the middle layer interface mapping library comprises the following steps:

step 1) the intermediate layer interface mapping library analyzes the configuration file transmitted by the application program to acquire the type of each sensor required to be used;

step 2) whether all types of sensors are processed or not, if so, executing step 8), otherwise, executing step 3)

Step 3) the intermediate layer interface mapping library checks whether the sensor is in a support list of the intermediate layer interface mapping library according to the type of the sensor acquired in the step 1), if so, the step 4) is executed, otherwise, error processing is carried out, and the step 2) is returned to be executed;

step 4) the intermediate layer interface mapping library checks whether the sensor abstract library corresponding to the sensor in the step 3) is loaded, if so, the step 6) is executed, and if not, the step 5) is executed;

step 5) finding a corresponding path of the sensor abstract library according to the type of the sensor and loading the sensor abstract library;

step 6) initializing the sensor in the sensor abstract library by using the file handle of the sensor abstract library;

step 7) returning to execute the step 2);

and 8) finishing.

5. The framework design method for abstract management of sensor data according to claim 4, wherein the method for calling the function in the sensor abstraction library from the interface mapping library of the middle layer to the interface provided by the application program comprises the following steps:

step S1), the middle layer interface mapping library analyzes the configuration file transmitted by the application program, acquires the position information of the sensor needed to be used, and takes out the corresponding file handle in the sensor abstract library according to the position information of the sensor;

step S2) extracting the corresponding interface function from the file handle in the sensor abstract library;

step S3) executing the function in step S2);

step S4) returns the execution result.

6. The method of claim 5, wherein the sensor installation location information is defined by a sensor instance mark method.

7. A storage medium storing one or more programs which, when executed by a processor, perform the steps of the framework design method for abstract management of sensor data according to any of claims 2 to 6.

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