CN110244958B - Method and device for updating calibration data of a vehicle - Google Patents
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- G06F8/65—Updates
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Abstract
The invention provides a method and a device for updating calibration data of a vehicle. The method comprises the following steps: upgrading the first calibration data stored in the first memory; synchronizing the second calibration data stored in the second memory based on the first calibration data stored in the first memory; and adjusting the second calibration data stored in the second memory. According to the method and the device for updating the calibration data of the vehicle, the calibration data of the vehicle can be updated through supporting the guide program and the application program at the same time, so that different updating modes can be selected according to different calibration data scales or other different calibration requirements, and the calibration process has more flexible operability, faster updating speed and better expansibility; in addition, calibration data are stored in the first memory and the second memory at the same time and are updated or synchronized when certain conditions are met, so that the calibration data are backed up, and the robustness of the system is improved.
Description
Technical Field
The present invention relates to the field of vehicle electronics, and more particularly to a method and apparatus for calibration data updating of a vehicle.
Background
With the development of vehicle technology, the requirements of safety and comfort of the whole vehicle are increasing, and the number of electronic/electric systems on the vehicle is increasing. Typically, a number of ecus (Electronic Control Unit, electronic control units) such as engine management systems, brake systems, airbag systems, etc. may be included on the vehicle. In these microprocessor-based control units, complex functions and control logic are implemented. Here, the functions and control logic refer to control strategies and algorithms to be implemented by the microprocessor, and are typically stored in a software program of the control unit. In addition, in the control unit of the various components of the vehicle, there are a number of software-adjustable parameters, the adjustment of which is effected by means of a calibration process.
The calibration refers to adjusting, optimizing and determining calibration variables such as software running parameters, control parameters and the like of the vehicle-mounted control unit according to various performance requirements (such as dynamic performance, economy, emission and the like) of the whole vehicle so as to meet the control requirements of a specified vehicle type and optimize the control function of the vehicle-mounted control unit.
In the vehicle development phase, these parameters typically need to be iteratively adjusted and optimized through a number of calibration procedures. According to different calibration requirements, in one calibration, a calibration staff may update one or a plurality of small amounts of calibration data, and may update all or a lot of calibration data.
Therefore, there is a need for a method and apparatus for updating calibration data that can select different updating modes for different calibration data sizes or other different calibration requirements, so that the calibration process has more flexible operability, faster updating speed, and better expandability.
Disclosure of Invention
In view of the above, the present invention proposes a method and apparatus for simultaneously supporting updating of calibration data of a vehicle by a boot program and an application program of an on-vehicle control unit, which is capable of updating all first calibration data in a first memory by the boot program by updating the calibration data, and selectively adjusting a part of second calibration data in a second memory by an application program through a unified diagnostic service after synchronizing the second calibration data in the second memory based on the first calibration data in the first memory.
According to an aspect of the present invention, there is provided a method for updating calibration data of a vehicle, comprising: upgrading the first calibration data stored in the first memory; synchronizing the second calibration data stored in the second memory based on the first calibration data stored in the first memory; and adjusting the second calibration data stored in the second memory.
According to an embodiment of the present invention, the method for updating calibration data of a vehicle further includes: and judging whether the second calibration data need to be synchronized based on the first calibration data according to the first calibration data and the second calibration data.
According to an embodiment of the present invention, upgrading the first calibration data stored in the first memory includes: receiving a calibration upgrading command and target calibration data; and updating the first calibration data in the first memory based on the target calibration data.
According to an embodiment of the present invention, the method for updating calibration data of a vehicle further includes: and judging whether the first calibration data need to be upgraded based on the target calibration data according to the target calibration data and the first calibration data or according to the target calibration data and the second calibration data.
According to an embodiment of the present invention, the method for updating calibration data of a vehicle further includes: judging whether to execute the following operations according to the target calibration data and the second calibration data: the first calibration data is updated based on the target calibration data, and after the first calibration data is updated, the second calibration data is synchronized based on the first calibration data.
According to the embodiment of the invention, the first calibration data comprises first calibration version information and at least one first calibration parameter, the second calibration data comprises second calibration version information and at least one second calibration parameter, and the target calibration data comprises target calibration version information and at least one target calibration parameter.
According to an embodiment of the invention, adjusting the second calibration data stored in the second memory comprises: receiving a calibration adjustment command and a target adjustment parameter; and selectively adjusting at least a portion of the second calibration data by a configurable diagnostic tool based on the target adjustment parameter, wherein the configurable diagnostic tool supports a unified diagnostic service.
According to an embodiment of the present invention, updating the first calibration data in the first memory based on the target calibration data includes: updating the first calibration version information based on the target calibration version information; and updating the at least one first calibration parameter based on the at least one target calibration parameter.
According to an embodiment of the invention, selectively adjusting at least a portion of the second calibration data by a configurable diagnostic tool comprises: updating at least a portion of the at least one second calibration parameter in the second calibration data based on the target adjustment parameter; and maintaining the second calibrated version information unchanged.
According to the embodiment of the invention, the formats of the first calibration version information, the second calibration version information and the target calibration version information are the same, and the formats comprise at least one of version upgrading time and version number.
According to an embodiment of the present invention, the first memory is a read-only memory, and the second memory is an eeprom.
According to another aspect of the present invention, there is provided an apparatus for updating calibration data of a vehicle, comprising: a processor; a first memory; a second memory; a first set of computer readable instructions stored on the first memory, which when executed by the processor, cause the processor to perform the steps of: upgrading the first calibration data stored in the first memory; and a second set of computer readable instructions stored on the first memory, which when executed by the processor, cause the processor to perform the steps of: synchronizing second calibration data stored in a second memory based on the first calibration data stored in a first memory, and adjusting the second calibration data stored in a second memory, wherein the first set of computer-readable instructions and the second set of computer-readable instructions are stored in different sections of the first memory, respectively.
According to an embodiment of the invention, the second set of computer readable instructions, when executed by the processor, causes the processor to further perform the steps of: and judging whether the second calibration data need to be synchronized based on the first calibration data according to the first calibration data and the second calibration data.
According to an embodiment of the invention, the first set of computer readable instructions, when executed by the processor, cause the processor to further perform the steps of: and judging whether the first calibration data needs to be upgraded based on the target calibration data according to the target calibration data and the first calibration data or according to the target calibration data and the second calibration data.
According to an embodiment of the invention, the first set of computer readable instructions and the second set of computer readable instructions, when executed by the processor, cause the processor to further perform the steps of: judging whether to execute the following operations according to the target calibration data and the second calibration data: the first calibration data is updated based on the target calibration data, and after the first calibration data is updated, the second calibration data is synchronized based on the first calibration data.
By adopting the method and the device for updating the calibration data of the vehicle, the calibration data of the vehicle is updated through supporting the bootstrap program and the application program at the same time, and particularly, all the calibration parameters are updated through the bootstrap program in a mode that one calibration upgrading command upgrades one whole calibration data segment, or part of the calibration parameters are updated through the application program in a mode that one calibration adjusting command corresponds to one or a plurality of calibration parameters, so that different updating modes can be selected according to different calibration data scales or other different calibration requirements, and the calibration process has more flexible operability, faster updating speed and better expansibility; in addition, calibration data are stored in the first memory and the second memory at the same time and are updated or synchronized when certain conditions are met, so that the calibration data are backed up, and the robustness of the system is improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent from the following more particular description of embodiments of the present invention, as illustrated in the accompanying drawings. The accompanying drawings are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, and not constitute a limitation to the invention. In the drawings, like reference numerals generally refer to like parts or steps.
FIG. 1 is a schematic overall architecture diagram showing a calibration system;
FIG. 2 is an exemplary diagram illustrating one manner of storing and updating calibration data;
FIG. 3 is an exemplary diagram illustrating another manner of storing and updating calibration data;
FIG. 4 is an exemplary diagram illustrating the manner in which calibration data is stored and updated in accordance with an embodiment of the present invention;
FIG. 5 is an example flow chart illustrating a method for updating calibration data in accordance with an embodiment of the present invention;
FIG. 6 is an exemplary block diagram illustrating calibration data according to an embodiment of the present invention;
FIG. 7 is a schematic diagram illustrating a lifecycle sequence of calibration data according to an embodiment of the present invention; and
FIG. 8 is an example block diagram illustrating an apparatus for updating calibration data according to an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, exemplary embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It will be apparent that the described exemplary embodiments are only some embodiments of the present invention, and not all embodiments of the present invention, and that all other embodiments obtained by those skilled in the art without inventive effort shall fall within the scope of the present invention.
Here, it is to be noted that in the drawings, the same reference numerals are given to constituent parts having substantially the same or similar structures and functions, and repeated description thereof will be omitted.
First, the interaction of the components in the calibration system 100 during the calibration process is described with reference to FIG. 1.
As shown in fig. 1, the calibration system includes an upper computer 101, a communication link 102, and at least one in-vehicle control units 103_1 to 103—n included in one in-vehicle terminal. Here, for convenience of explanation, at least one in-vehicle control unit 103_1 to 103—n is collectively referred to as in-vehicle control unit 103.
The upper computer 101 refers to a device that can directly issue a control command, such as, but not limited to, a desktop computer, a laptop computer, a tablet computer, a mobile terminal, a handheld device, a cloud server, etc.
At least one onboard control unit 103 such as, but not limited to, a body controller, an ECU for various components of the vehicle, and the like. Such as, but not limited to, engine control modules, gauges, airbags, tire pressure control modules, gearboxes, brake systems, electric power steering systems, air conditioners, body controllers, and the like.
The communication link 102 may be, for example, a single wired link or a single wireless link, as well as a combination of wired and wireless links, as well as a combination of multiple wired links or a combination of multiple wireless links. In some embodiments, the host computer 101 is connected to the vehicle terminal through a CAN card. In other embodiments, the upper computer 101 is, for example, a cloud server, and the upper computer 101 is connected to a vehicle terminal through, for example, OTA (Over the Air Technology) wireless network for remote calibration. It should be noted that although the communication link 102 is described by way of example in the two embodiments, it will be understood by those skilled in the art that the present invention is not limited thereto, and any communication method capable of connecting the host computer 101 and the in-vehicle terminal may be employed.
The upper computer 101 and at least one vehicle-mounted control unit 103 are respectively connected to a communication link 102, and are used for data exchange between the upper computer 101 and the vehicle-mounted control unit 103, for example, the vehicle-mounted control unit 103 receives a calibration adjustment command, a calibration upgrade command, a message of calibration data and the like of the upper computer 101 through the communication link 102.
In one example, the calibration process includes, for example and without limitation: (1) the upper computer 101 establishes communication connection with the vehicle-mounted terminal; (2) The upper computer 101 performs real-time debugging according to the parameters to be calibrated acquired from each vehicle-mounted control unit 103, generates updated calibration data in real time, and encapsulates the updated calibration data into a message suitable for transmission on the communication link 102 to be sent to each vehicle-mounted control unit 103; (4) Each vehicle-mounted control unit 103 receives respective messages from the communication link 102 according to the message ID and writes updated calibration data carried in the messages into respective memories; (5) Each vehicle-mounted control unit 103 executes a calibration process according to the updated calibration data to verify the optimal application range of the data.
In order to avoid obscuring the subject matter of the present invention, the reading/writing of updated calibration data by the on-board control unit 103 will be discussed with emphasis, and other calibration steps will not be described in detail. Two ways of storing and updating the updated calibration data in the on-board control unit are illustrated below with reference to fig. 2 and 3.
As shown in fig. 2, in a first storage and update mode 200, each on-board control unit includes at least a first memory 210 and a second memory 220. Different sections in the first memory 210 store a boot program 212 (Bootloader) and an Application program 216 (Application), respectively, and calibration data 224 in the second memory 220. The first memory 210 may be, for example and without limitation, a Read Only Memory (ROM), and the second memory 220 may be, for example and without limitation, an Electrically Erasable Programmable Read Only Memory (EEPROM).
The boot 212 is the first piece of software code that runs after the hardware is powered up, and generally functions to initialize the hardware device, set the environment variables required by the system, and then jump to the main program (i.e., application 216) running. The boot program 212 will continue to run only when a need to burn/upgrade the software program is detected.
In this manner, the application 216 uses the UDS (Unified Diagnostic Services, unified diagnostic service) to read/write the calibration data 224 in the second memory 220. For example, the host computer sends a calibration adjustment command via a UDS-enabled configurable diagnostic tool that can only adjust one calibration parameter in the calibration data 224 at a time. When the application program 216 receives and processes the calibration adjustment command, a corresponding one of the calibration parameters in the second memory 220 is rewritten based on the calibration parameter. It can be seen that in this first storage and update mode 200, the calibration personnel can adjust the calibration data 224 in the vehicle control unit by the host computer parameter by parameter, and it is impossible to rewrite all the calibration data 224 of an entire data segment by one command. Therefore, the update speed in this way is slow, and it is not suitable for cases such as production and calibration of mass-produced vehicles.
As shown in fig. 3, in the second storage and update mode 300, each on-board control unit includes at least a first memory 310, and a boot program 312, an application program 316, and calibration data 314 are stored in different sections of the first memory 310. The first memory 310 may be, for example, but not limited to, a read only memory.
In this manner, updated calibration data is written by the boot program 312 into the first memory 310, and the application program 316 uses the UDS to read the calibration data in the first memory 310 when needed. Specifically, the boot program 312 upgrades the calibration data 314 in a manner similar to the upgrade software to enable updating of all calibration parameters for the entire calibration data segment. When the calibration data 314 need to be updated, the upper computer sends a calibration update command and a calibration file containing all the calibration data to the vehicle-mounted control unit. The calibration upgrade command is processed by the boot program 312. The calibration file, after being compiled by the on-board control unit, has a specific format, such as a binary file, recognizable by the boot program 312. The boot program 312 then rewrites all of the calibration parameters in the entire calibration data segment based on the binary file.
The difference between upgrading the calibration data and upgrading the software by the boot program 312 is that the address of the upgraded software program stored in the first memory is different from the address of the upgraded calibration data stored therein. Thus, for the boot program 312, upgrading calibration data can also be considered a standard procedure, which has a strong versatility. Moreover, the second storage and update method 300 is more suitable for use in, for example, the production and calibration of large-volume vehicles, and when a large number of calibration parameters in the calibration data need to be updated, only one calibration upgrade command is required to update an entire data segment, thereby achieving a faster update rate. However, this approach does not allow for writing of a single calibration parameter, e.g. in some calibration situations only a few small calibration parameters need to be updated. At this time, even if only one calibration parameter needs to be updated, all the calibration parameters in the calibration data section of the first memory need to be rewritten by the boot program 312, and thus there are disadvantages of excessive waste of resources and inconvenience in operation.
In view of the above, the present invention proposes a method and apparatus for simultaneously supporting updating of calibration data of a vehicle by a boot program and an application program of an on-vehicle control unit, which is capable of updating all of first calibration data in a first memory by the boot program by way of updating the calibration data, and selectively adjusting a portion of second calibration data in a second memory by a unified diagnostic service by the application program after synchronizing the second calibration data in the second memory based on the first calibration data in the first memory.
FIG. 4 shows a schematic diagram of a storage and update scheme 400 for calibration data according to an embodiment of the invention. As shown in fig. 4, each in-vehicle control unit includes at least a first memory 410 and a second memory 420 according to an embodiment of the present invention. The in-vehicle control unit may be an in-vehicle control unit 103 as described in fig. 1, such as, but not limited to, a vehicle body controller, and each in-vehicle ECU, etc. The boot 412, the application 416, and the first calibration data 414 are stored in different sections of the first memory 410, respectively, and the second calibration data 424 are stored in the second memory 420.
According to an embodiment of the present invention, the first calibration data 414 stored in the first memory 410 is updated by the boot program 412; synchronizing, by the application 416, the second calibration data 424 stored in the second memory 420 based on the first calibration data 414 stored in the first memory 410; adjusting, by the application 416, the second calibration data 424 stored in the second memory 420; and the second calibration data 424 stored in the second memory 420 is read by the application 416 for verification testing.
In one example, the first memory 410 may be, for example and without limitation, a read-only memory, and the second memory 420 may be, for example and without limitation, an electrically erasable programmable read-only memory.
FIG. 5 illustrates a flow chart of a method 500 for updating calibration data according to an embodiment of the invention. The method 500 may be applied, for example, to each on-board control unit that needs to update calibration data.
As shown in fig. 5, first, in step S520, the first calibration data 414 stored in the first memory 410 is updated.
Specifically, this step is performed by the boot program 412. The boot program 412 upgrades the first calibration data 414 in a manner similar to the upgrade software to effect the updating of all the first calibration parameters for the entire first calibration data segment. According to an embodiment of the present invention, when the first calibration data 414 needs to be updated, a calibration update command from the host computer and a calibration file containing target calibration data are received. According to an embodiment of the invention, the calibration file, after being compiled by the on-board control unit, has a specific format recognizable by the boot program 412. In one example, the particular format is, for example, a binary file. The boot program 412 then upgrades the first calibration data 414 in the first memory 410 based on the target calibration data in the calibration file.
The first calibration data 414, the second calibration data 424, and the target calibration data are collectively referred to herein as calibration data. In particular, the calibration data comprises at least one calibration parameter. According to the embodiment of the invention, the calibration data further comprises calibration version information.
For example, FIG. 6 shows an example block diagram of calibration data. In this example, the calibration data comprises at least 2 parts, part 1 comprising calibration version information 601 and part 2 comprising at least one calibration parameter 602. In this example, the first calibration data 414 includes first calibration version information and at least one first calibration parameter, the second calibration data 424 includes second calibration version information and at least one second calibration parameter, and the target calibration data includes target calibration version information and at least one target calibration parameter. The number of parameters of the at least one first calibration parameter, the number of parameters of the at least one second calibration parameter, and the number of parameters of the at least one target calibration parameter may be the same or different.
According to the embodiment of the invention, the formats of the first calibration version information, the second calibration version information and the target calibration version information are the same. In some embodiments, each scaled version information may include a version upgrade time; in other embodiments, each scaled version information may include a version number; in still other embodiments, each scaled version information may include a version upgrade time and a version number.
It should be noted that, in the above-described embodiments, the data structure of the calibration data is described by taking fig. 6 as an example, but it will be understood by those skilled in the art that the present invention is not limited thereto, and any data structure capable of recording the calibration version information and the calibration parameters may be employed. Further, in the embodiments described above, the calibration version information is described taking the version-up time and the version number as an example, but it will be understood by those skilled in the art that the present invention is not limited thereto, and any information capable of distinguishing versions of calibration data may be employed.
Further, according to an embodiment of the present invention, the boot program 412 updating the first calibration data 414 in the first memory 410 based on the target calibration data in the calibration file may comprise the steps of: updating the first calibration version information based on the target calibration version information; and updating the at least one first calibration parameter based on the at least one target calibration parameter. In other words, in the case of upgrading the calibration data, the boot program 412 updates all of the first calibration parameters and the first calibration version information stored in the first calibration data segment in the first memory 410 in response to one calibration upgrade command of the upper computer.
Returning to fig. 5, next, in step S540, the second calibration data 424 stored in the second memory 420 is synchronized based on the first calibration data 414 stored in the first memory 410.
Specifically, this step is performed by application 416. More specifically, the first calibration data 414 in the first memory 410 is read by the application 416 through the UDS, and then the second calibration data 424 in the second memory 420 is rewritten by the UDS based on the first calibration data 414.
According to an embodiment of the present invention, the application 416 synchronizing the second calibration data 424 stored in the second memory 420 based on the first calibration data 414 stored in the first memory 410 may comprise: updating the second calibration version information based on the first calibration version information; and updating all of the second calibration parameters based on all of the first calibration parameters. In other words, when synchronizing the calibration data, not only the calibration version information but also all the calibration parameters are synchronized to ensure that the first calibration data 414 in the first memory 410 after synchronization is completely identical to the second calibration data 424 in the second memory 420, so that the second calibration data 424 in the second memory 420 is synchronized to the latest version, and the first calibration data 414 in the first memory 410 may be in a backup state.
Next, in step S560, the second calibration data 424 stored in the second memory 420 is adjusted.
Specifically, this step is performed by application 416. According to the embodiment of the invention, when the calibration data of the part needs to be adjusted, the upper computer sends a calibration adjustment command and target adjustment parameters to the vehicle-mounted control unit. The calibration adjustment command is then processed by the application 416. Specifically, the application 416 selectively adjusts at least a portion of the second calibration data 424 via the UDS based on the target adjustment parameter. In one example, the application 416 accesses the second memory 420, for example, through a configurable diagnostic tool that supports UDS.
In one example, one calibration adjustment command can only correspondingly adjust one of the second calibration parameters in the second calibration data 424. It should be noted that, although an example is described herein in which one calibration adjustment command corresponds to one target adjustment parameter, it will be understood by those skilled in the art that the present invention is not limited thereto, but one calibration adjustment command may correspond to other number of target adjustment parameters, such as two target adjustment parameters, three target adjustment parameters, and the like, but the number is limited and small. It will be appreciated by those skilled in the art that, unlike the calibration upgrade command processed by the boot program 412 described above, which is capable of upgrading all of the first calibration parameters of the first calibration data 414 at one time, the calibration adjustment command processed by the application program 416 herein is capable of adjusting only one or a limited number of the second calibration parameters of the second calibration data 424 at a time, i.e., selectively adjusting a portion of the second calibration parameters.
According to an embodiment of the invention, the application 416 selectively adjusting at least a portion of the second calibration data 424 by a configurable diagnostic tool includes: updating at least a portion of the at least one second calibration parameter in the second calibration data 424 based on the target adjustment parameter from the host computer, wherein the at least a portion of the second calibration parameter corresponds to the target adjustment parameter from the host computer; and maintaining the second calibrated version information unchanged. In one example, where one calibration adjustment command corresponds to only one target adjustment parameter, the application 416 updates only one second calibration parameter in the second memory 420 that corresponds to the target adjustment parameter. In another example, where one calibration adjustment command corresponds to a limited number of target adjustment parameters, the application 416 also updates only a limited number of second calibration parameters in the second memory 420 that correspond to these target adjustment parameters.
At this time, in the case where a part of the second calibration parameters are adjusted by the application 416, the second calibration version information is kept unchanged in order to avoid unnecessary errors occurring when synchronizing the second calibration data 424 based on the first calibration data 414 as described above. In other words, the calibration adjustment command does not update the second calibrated version of the second calibration data 424 in the second memory 420, and the configurable diagnostic tool does not update the second calibrated version of the second calibration data 424 in the second memory 420.
Optionally, in order to avoid redundant or erroneous upgrade operations or synchronization operations on the calibration data, the method for updating the calibration data according to an embodiment of the present invention may further perform at least one of the following two determinations: (1) A first determination, prior to step S520, as to whether the first calibration data 414 needs to be updated based on the target calibration data; and (2) a second determination, prior to step S540, as to whether the second calibration data 424 needs to be synchronized based on the first calibration number, 414.
In some embodiments, it is determined by the boot program 412 from the target calibration data and the first calibration data 414 or from the target calibration data and the second calibration data 412 whether the first calibration data needs to be upgraded based on the target calibration data. In these embodiments, the following two examples are included:
In a first example, the target calibration data and the first calibration data 414 are compared by the boot program 412, and the boot program 412 upgrades the first calibration data 414 in the first memory 410 only if the version of the target calibration data in the calibration file is different from the current version of the first calibration data 414 stored in the first memory 410.
According to a first example, first, target calibration version information of target calibration data and first calibration version information of first calibration data 414 are acquired by a boot program 412. Regarding the target calibration version information, the boot program 412 may read directly from the calibration file. Regarding the first calibration version information, the boot program 412 may read directly from the first calibration data 414 in the first memory.
According to a first example, the target calibration version information and the first calibration version information are next compared by the boot program 412. For example, in the case where each of the calibrated version information includes only the version upgrade time, the upgrade time of the target calibrated version and the upgrade time of the first calibrated version are compared; for another example, in the case that each of the calibrated version information includes only a version number, the version number of the target calibrated version is compared with the version number of the first calibrated version; for another example, where each scaled version information includes both a version upgrade time and a version number, either of the version upgrade time and the version number, preferably the version numbers, may be compared.
According to a first example, it is determined that the first calibration data 414 needs to be updated when the target calibration version information is different from the first calibration version information; when the target calibration version information is the same as the first calibration version information, it is determined that the first calibration data 414 does not need to be updated. After applying the first determination as in this first example, optionally, a second determination, i.e., a determination as to whether or not synchronization data is required, may also be optionally performed in a subsequent step.
In a second example, the target calibration data and the second calibration data 424 are compared by the boot program 412, and the boot program 412 upgrades the first calibration data 414 in the first memory 410 only if the version of the target calibration data in the calibration file is different from the current version of the second calibration data 424 stored in the second memory 420.
According to a second example, first, target calibration version information and second calibration version information are obtained by the boot program 412. Regarding the target calibration version information, the boot program 412 may read directly from the calibration file. Regarding the second calibrated version information, for example, the bootstrap 412 may access the second memory 420 through the UDS to obtain the second calibrated version information; for another example, the second nominal version information may also be backed up in the first memory 410 in advance, and the second version information backed up in the first memory 410 may be modified at the same time each time the second nominal version information is changed.
According to a second example, the target calibration version information and the second calibration version information are next compared by the boot program 412. For example, in the case where each of the calibrated version information includes only the version upgrade time, the upgrade time of the target calibrated version and the upgrade time of the second calibrated version are compared; for another example, in the case that each of the calibrated version information includes only a version number, the version number of the target calibrated version and the version number of the second calibrated version are compared; for another example, where each scaled version information includes both a version upgrade time and a version number, either of the version upgrade time and the version number, preferably the version numbers, may be compared.
According to a second example, it is determined that the first calibration data 414 needs to be updated when the target calibration version information is different from the second calibration version information; when the target calibration version information is the same as the second calibration version information, it is determined that the first calibration data 414 does not need to be updated. After applying the first determination as in this second example, preferably, the second determination is not performed in a subsequent step, i.e. it is no longer determined whether synchronization data is needed. In other words, in this second example, it is determined whether to perform the following operations based on the target calibration data and the second calibration data 424: the first calibration data is updated based on the target calibration data, and after the first calibration data is updated, the second calibration data is deterministically synchronized based on the first calibration data.
In other embodiments, the application 416 determines from the first calibration data 414 and the second calibration data 424 whether synchronization of the second calibration data 424 based on the first calibration data 414 is required. By determining which of the first calibration data 414 in the first memory 410 and the second calibration data 424 in the second memory 420 is up-to-date, a decision is made whether to synchronize, thereby avoiding unnecessary or incorrect data synchronization.
Specifically, for example, the jump is made directly to the application 416 after the boot 412 completes initialization, and for example, the jump is made to the application 416 after the boot 412 optionally completes upgrading the software or optionally upgrading the calibration data.
After the application 416 is started, first, the first calibration version information and the second calibration version information are acquired by the application 416. Regarding the first calibrated version information, for example, the application 416 may access the first memory 410 through the UDS to obtain the first calibrated version information. Regarding the second nominal version information, for example, the application 416 may access the second memory 420 via the UDS to obtain the second nominal version information.
Next, the first calibrated version information and the second calibrated version information are compared by the application 416. For example, in the case where each of the calibrated version information includes only version upgrade time, the upgrade time of the first calibrated version and the upgrade time of the second calibrated version are compared; for another example, in the case that each of the calibrated version information includes only a version number, the version number of the first calibrated version and the version number of the second calibrated version are compared; for another example, where each scaled version information includes both a version upgrade time and a version number, either of the version upgrade time and the version number, preferably the version numbers, may be compared.
When the first calibration version information is different from the second calibration version information, it is determined that the second calibration data 424 needs to be synchronized based on the first calibration data 414. This means that the boot program 412 has updated the first calibration data 414 in the first memory 410 before the application 416 is started this time, and therefore the first calibration data 414 in the first memory 410 is up-to-date, meaning that it has been updated last time, as compared to the second calibration data 424 in the second memory 420. At this time, the application 416 needs to read the first calibration data 414 in the first memory 410 and rewrite the second calibration data 424 in the second memory 420 based on the first calibration data 414.
When the first calibration version information is the same as the second calibration version information, the second calibration data 424 need not be synchronized based on the first calibration data 414. This means that the data synchronization has already been performed before the application 416 is started this time and that after the last synchronization the boot 412 has not updated the first calibration data 414 in the first memory 410 again. At this time, the second calibration data 424 in the second memory 420 is up-to-date, so that the second calibration data 424 in the second memory 420 need not be updated based on the first calibration data 414 in the first memory 410.
Thus, redundant or erroneous upgrade operations or synchronization operations on the calibration data are avoided by a first determination prior to an upgrade operation by the boot program 412 and/or a second determination prior to a synchronization operation by the application program 416. It should be noted that although the above embodiments or examples are described, it will be understood by those skilled in the art that the manner of avoiding redundant or erroneous upgrade operations or synchronization operations is not limited thereto, and any judgment manner may be employed.
4-6, A method for updating calibration data in accordance with an embodiment of the present invention has been described that, in general terms, simultaneously supports upgrading all of the first calibration parameters by the boot program 412 and adjusting part of the second calibration parameters by the application program 416.
Further, fig. 7 shows a schematic diagram of a lifecycle sequence of calibration data according to an embodiment of the present invention.
For ease of illustration, the event that upgrades all of the first calibration parameters by the boot will be referred to herein simply as a boot upgrade event, such as events 701 and 705 shown in FIG. 7; events that adjust a portion of the second calibration parameters by the application are simply referred to as application adjustment events, such as events 703, 704, and 707 shown in FIG. 7; and events that synchronize the second calibration data based on the first calibration data are simply referred to as synchronization events, such as events 702 and 706 shown in fig. 7. The boot update event and the application adjustment event may both implement the updating of the calibration data.
In some embodiments, as shown in FIG. 7, multiple boot upgrade events, application adjustment events, and synchronization events may occur during a calibration process.
It should be noted that, although various events and data state changes caused by the events are described by taking fig. 7 as an example, those skilled in the art will understand that the occurrence sequence and occurrence number of the various events are not limited to the example shown in fig. 7, but may occur alternately or repeatedly in any order, and the occurrence number is not limited.
For example, in other embodiments, a boot upgrade event may occur only once during a calibration process; in still other embodiments, only one or more boot upgrade events and one or more synchronization events may occur during a calibration process; in still other embodiments, one or more application adjustment events may occur during a calibration process. In other words, the bootstrap upgrade events, the application tuning events, and the synchronization events may be combined in any order and/or any number of times, depending on different calibration requirements or calibration conditions.
It is noted that since the bootstrap upgrade event corresponds to step S520 of fig. 5, the synchronization event corresponds to step S540 of fig. 5, and the application adjustment event corresponds to step S560 of fig. 5, the 4 steps of fig. 5 include not only processes performed in time series in the order described herein, but also processes performed in parallel or separately, not in time series.
Returning to FIG. 7, illustratively, "up to date," "old," and "backed up" are all data states of the calibration data. By "up to date" is meant that the update has been last experienced, relatively speaking, the data state "old" means that the latest data has been synchronized.
According to an embodiment of the present invention, after a boot program upgrade event occurs, the state of the first calibration data becomes up-to-date, and at this time the state of the second calibration data becomes old. After a synchronization event occurs, the state of the first calibration data becomes back-up, at which point the state of the second calibration data becomes up-to-date. After an application adjustment event, the state of the second calibration data becomes up-to-date, while the state of the first calibration data does not change.
As shown in fig. 7, the first calibration data in the first memory and the second calibration data in the second memory are not necessarily always the same. The first calibration data and the second calibration data are identical only immediately after an event of synchronizing the second calibration data based on the first calibration data. After this, the application can adjust the second calibration data in the second memory using the configurable diagnostic tool through the UDS.
For example, the boot program has updated the first calibration data in the first memory, such as events 701 and 705, before the application is started this time, so that the first calibration data in the first memory is up-to-date compared to the second calibration data in the second memory. At this point, the application needs to read the first calibration data in the first memory and synchronize the second calibration data in the second memory based on the first calibration data, such as events 702 and 706.
For another example, data synchronization, such as events 702 and 706, has been performed before the application is this time started, and after the last synchronization, the boot program has not updated the first calibration data in the first memory again. At this point, the second calibration data in the second memory is up-to-date, and therefore, there is no need to update the second calibration data in the second memory based on the first calibration data in the first memory, so that the application can freely selectively adjust any one or any part of the second calibration parameters, such as events 703, 704 and 707, based on the second calibration data currently stored in the second memory.
4-7, A method for updating calibration data according to an embodiment of the present invention has been described, in which the calibration data of a vehicle is updated by supporting a bootstrap program and an application program at the same time, in particular, by updating all first calibration parameters in such a way that the bootstrap program upgrades an entire calibration data segment with one calibration upgrade command, or by updating part of second calibration parameters in such a way that the application program adjusts one or several second calibration parameters with one calibration adjustment command, so that different updating manners can be selected for different calibration data sizes or other different calibration requirements, resulting in a more flexible operability, a faster updating speed and a better expansibility of the calibration process; in addition, calibration data are stored in the first memory and the second memory at the same time and are updated or synchronized when certain conditions are met, so that the calibration data are backed up, and the robustness of the system is improved.
In the above, a method for updating calibration data according to an embodiment of the present invention is described. Next, an apparatus 800 for updating calibration data according to an embodiment of the present invention will be described with reference to fig. 8.
According to an embodiment of the invention, the device 800 for updating calibration data comprises a processor 801, a first memory 802, a second memory 803. In addition, the apparatus 800 for updating calibration data may further include other components, such as an input/output interface, etc., and the present invention is not limited thereto.
Further, the apparatus 800 for updating calibration data further comprises a first set of computer readable instructions stored on the first memory and a second set of computer readable instructions stored on the first memory, wherein the first set of computer readable instructions and the second set of computer readable instructions are stored in different sections of the first memory, respectively.
According to an embodiment of the invention, the first set of computer readable instructions, when executed by the processor, cause the processor to perform the steps of: the first calibration data stored in the first memory is upgraded. The second set of computer readable instructions, when executed by the processor, cause the processor to perform the steps of: synchronizing the second calibration data stored in the second memory based on the first calibration data stored in the first memory, and adjusting the second calibration data stored in the second memory.
Specifically, upgrading the first calibration data stored in the first memory includes: receiving a calibration upgrading command and target calibration data; and updating the first calibration data in the first memory based on the target calibration data.
Specifically, adjusting the second calibration data stored in the second memory includes: receiving a calibration adjustment command and a target adjustment parameter; and selectively adjusting at least a portion of the second calibration data by a configurable diagnostic tool based on the target adjustment parameter, wherein the configurable diagnostic tool supports a unified diagnostic service.
In some embodiments, the second set of computer readable instructions, when executed by the processor, cause the processor to further perform the steps of: and judging whether the second calibration data need to be synchronized based on the first calibration data according to the first calibration data and the second calibration data.
In other embodiments, the first set of computer readable instructions, when executed by the processor, cause the processor to further perform the steps of: and judging whether the first calibration data need to be upgraded based on the target calibration data according to the target calibration data and the first calibration data or according to the target calibration data and the second calibration data.
In still other embodiments, the first set of computer readable instructions and the second set of computer readable instructions, when executed by the processor, cause the processor to further perform the steps of: judging whether to execute the following operations according to the target calibration data and the second calibration data: the first calibration data is updated based on the target calibration data, and after the first calibration data is updated, the second calibration data is synchronized based on the first calibration data.
Furthermore, the first calibration data comprises a first calibration version information and at least one first calibration parameter, the second calibration data comprises a second calibration version information and at least one second calibration parameter, and the target calibration data comprises a target calibration version information and at least one target calibration parameter.
Further, the formats of the first calibration version information, the second calibration version information and the target calibration version information are the same, and the formats comprise at least one of version upgrading time and version number.
In the above, the method and apparatus for updating calibration data according to the embodiment of the present invention are described with reference to fig. 1 to 8.
It should be noted that in this specification the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Furthermore, it should be noted that the above expressions such as "first", "second", etc. are used for convenience of description only to distinguish one unit from another unit, and do not mean that they must be provided as two physically separated units. That is, for example, the first display processing unit and the second display processing unit may be provided as separate two units or may be provided as one unit.
Finally, it is also to be noted that the above-described series of processes includes not only processes performed in time series in the order described herein, but also processes performed in parallel or separately, not in time series. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.
From the above description of the embodiments, it will be clear to those skilled in the art that the present invention may be implemented by means of software plus necessary hardware platforms, but may of course also be implemented entirely in hardware. With such understanding, all or part of the technical solution of the present invention contributing to the background art may be embodied in the form of a software product, which may be stored in a storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the method described in the embodiments or some parts of the embodiments of the present invention.
The foregoing has outlined rather broadly the more detailed description of the invention in order that the detailed description of the principles and embodiments of the invention may be implemented in conjunction with the detailed description of the invention that follows, the examples being merely intended to facilitate an understanding of the method of the invention and its core concepts; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (11)
1. A method for updating calibration data of a vehicle in an on-board control unit,
Wherein the vehicle-mounted control unit comprises a first memory and a second memory, the first memory stores first calibration data, the second memory stores second calibration data,
Wherein, the first memory and/or the second memory stores a bootstrap program and/or an application program;
wherein the method comprises the following steps:
a calibration upgrade command and target calibration data are received,
Updating first calibration data stored in a first memory based on the target calibration data in response to the calibration update command, wherein it is determined whether the first calibration data needs to be updated based on the target calibration data or based on the target calibration data and the second calibration data, and the first calibration data stored in the first memory is updated by the boot program in response to determining that the first calibration data needs to be updated,
Synchronizing second calibration data stored in a second memory based on the first calibration data stored in a first memory, wherein a determination is made as to whether the second calibration data needs to be synchronized based on the first calibration data and the second calibration data is synchronized by the application based on the first calibration data stored in a first memory in response to a determination that the second calibration data needs to be synchronized; and
Receiving a calibration adjustment command and a target adjustment parameter, and adjusting, by the application program, the second calibration data stored in a second memory based on the target adjustment parameter in response to the calibration adjustment command;
The first calibration data comprises first calibration version information and at least one first calibration parameter, the second calibration data comprises second calibration version information and at least one second calibration parameter, and the target calibration data comprises target calibration version information and at least one target calibration parameter.
2. The method of claim 1, further comprising:
Judging whether to execute the following operations according to the target calibration data and the second calibration data: the first calibration data is updated based on the target calibration data, and after the first calibration data is updated, the second calibration data is synchronized based on the first calibration data.
3. The method of claim 1, wherein adjusting the second calibration data stored in the second memory comprises:
selectively adjusting at least a portion of the second calibration data by a configurable diagnostic tool based on the target adjustment parameter,
Wherein the configurable diagnostic tool supports a unified diagnostic service.
4. The method of claim 1, wherein updating the first calibration data in a first memory based on the target calibration data comprises:
Updating the first calibration version information based on the target calibration version information; and
Updating the at least one first calibration parameter based on the at least one target calibration parameter.
5. A method according to claim 3, wherein selectively adjusting at least a portion of the second calibration data by a configurable diagnostic tool comprises:
Updating at least a portion of the at least one second calibration parameter in the second calibration data based on the target adjustment parameter; and
And keeping the second calibration version information unchanged.
6. The method of claim 1, wherein the formats of the first nominal version information, the second nominal version information, and the target nominal version information are the same, the formats including at least one of version upgrade time, version number.
7. The method of claim 1, wherein the first memory is a read-only memory and the second memory is an electrically erasable programmable read-only memory.
8. An apparatus for updating calibration data of a vehicle within an on-board control unit, comprising:
A processor;
A first memory;
A second memory;
wherein, the first memory and/or the second memory stores a bootstrap program and/or an application program;
A first set of computer readable instructions stored on the first memory, which when executed by the processor, cause the processor to perform the steps of:
Receiving a calibration upgrading command and target calibration data; and
Updating first calibration data stored in a first memory based on the target calibration data in response to the calibration update command, wherein the first set of computer readable instructions, when executed by the processor, cause the processor to further perform the steps of: determining whether the first calibration data needs to be updated based on the target calibration data and the first calibration data or based on the target calibration data and the first calibration data stored in a first memory is updated by the boot program in response to determining that the first calibration data needs to be updated, and
A second set of computer readable instructions stored on the first memory, which when executed by the processor, cause the processor to perform the steps of:
Synchronizing second calibration data stored in a second memory based on the first calibration data stored in the first memory, wherein the second set of computer readable instructions, when executed by the processor, cause the processor to further perform the steps of: determining, from the first calibration data and the second calibration data, whether the second calibration data needs to be synchronized based on the first calibration data, and in response to determining that the second calibration data needs to be synchronized, synchronizing, by the application, the second calibration data based on the first calibration data stored in the first memory; and
A calibration adjustment command is received and a target adjustment parameter is received,
In response to the calibration adjustment command, adjusting, by the application program, the second calibration data stored in a second memory based on the target adjustment parameter,
Wherein the first set of computer readable instructions and the second set of computer readable instructions are stored in different sections of the first memory,
The first calibration data comprises first calibration version information and at least one first calibration parameter, the second calibration data comprises second calibration version information and at least one second calibration parameter, and the target calibration data comprises target calibration version information and at least one target calibration parameter.
9. The apparatus of claim 8, wherein adjusting the second calibration data stored in the second memory comprises:
selectively adjusting at least a portion of the second calibration data by a configurable diagnostic tool based on the target adjustment parameter,
Wherein the configurable diagnostic tool supports a unified diagnostic service.
10. The apparatus of claim 8, the first set of computer readable instructions and the second set of computer readable instructions, when executed by the processor, cause the processor to further perform the steps of:
Judging whether to execute the following operations according to the target calibration data and the second calibration data: the first calibration data is updated based on the target calibration data, and after the first calibration data is updated, the second calibration data is synchronized based on the first calibration data.
11. The apparatus of claim 10, wherein the first nominal version information, the second nominal version information, and the target nominal version information are in a same format, the format including at least one of a version upgrade time, a version number.
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| CN110888664A (en) * | 2019-11-22 | 2020-03-17 | 奇瑞汽车股份有限公司 | Calibration data writing method based on XML mode |
| CN112857819A (en) * | 2019-11-28 | 2021-05-28 | 罗伯特·博世有限公司 | Vehicle brake regulation and control calibration method and system, vehicle and readable storage medium |
| CN112198820B (en) * | 2020-09-27 | 2021-11-12 | 中国第一汽车股份有限公司 | Interrupt service implementation method, device, equipment and storage medium |
| CN112230954A (en) * | 2020-09-27 | 2021-01-15 | 南斗六星系统集成有限公司 | After-sale calibration-free method and system for vehicle all-round system host |
| CN113778046B (en) * | 2021-02-25 | 2023-09-01 | 京东鲲鹏(江苏)科技有限公司 | Calibration data and calibration model updating method and device of chassis of drivable equipment |
| JP7363853B2 (en) * | 2021-04-26 | 2023-10-18 | トヨタ自動車株式会社 | OTA master, center, system, update method, update program, and vehicle |
| CN113747567B (en) * | 2021-09-07 | 2023-07-18 | 上海瓶钵信息科技有限公司 | Self-adaptive calibration data adjustment system, method and medium |
| CN115903747B (en) * | 2022-11-29 | 2024-06-25 | 重庆赛力斯凤凰智创科技有限公司 | Data calibration method, device, equipment and storage medium |
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