A domain controller and control system

Abstract

The present invention provides a domain controller and a control system, wherein the domain controller includes: a main control processor, a delay test module and a plurality of communication modules, the main control processor is respectively connected to the delay test module and each communication module; the main control processor communicates with an intelligent controller through the communication module, the delay test module is used to determine a first delay parameter when the main control processor communicates with each intelligent controller; the main control processor is used to determine a delay compensation parameter corresponding to each intelligent controller according to a plurality of first delay parameters, wherein the delay compensation parameter is used to adjust the time when the communication module sends a control command to the intelligent controller. The first delay parameter when the main control processor communicates with each intelligent controller is determined by the delay test module, and is used to adjust the time when the communication module sends a control command to the intelligent controller, so as to ensure that the control commands sent by the plurality of communication modules to the intelligent controller reach the intelligent controller at the same time.

Description

Technical Field

[0001] The present invention relates to the field of automobiles, and in particular to a domain controller and a control system. Background Art

[0002] With the continuous development of automobile technology, the functions of vehicles are constantly enriched, and accordingly, the number of intelligent controllers on vehicles is also increasing. In order to facilitate the control of multiple intelligent controllers, vehicle control is gradually developing towards domain control, that is, the domain controller can control multiple intelligent controllers at the same time. When the domain controller communicates with different intelligent controllers, the communication delay may be different. In this way, when the domain controller needs to control multiple intelligent controllers to work at the same time, due to the influence of delay, the problem of multiple intelligent controllers receiving control commands out of sync may occur, which may pose a potential threat to the safety of the vehicle. How to solve the above problems needs to be considered. Summary of the invention

[0003] The object of the present invention is to provide a domain controller and a control system to solve the problem in the prior art that multiple intelligent controllers receive control commands asynchronously.

[0004] In order to achieve the above-mentioned purpose, the present invention provides a domain controller, which is connected to multiple intelligent controllers respectively, including: a main control processor, a delay test module and multiple communication modules, the main control processor is respectively connected to the delay test module and each of the communication modules; the main control processor communicates with the intelligent controller through the communication module, and the delay test module is used to determine a first delay parameter when the main control processor communicates with each of the intelligent controllers; the main control processor is used to determine the delay compensation parameter corresponding to each of the intelligent controllers based on the multiple first delay parameters, wherein the delay compensation parameter is used to adjust the time when the communication module sends a control command to the intelligent controller.

[0005] Optionally, when the main control processor is used to determine the delay compensation parameter corresponding to each of the intelligent controllers based on multiple first delay parameters, it is specifically used to: determine the maximum delay parameter among the multiple first delay parameters; subtract each of the first delay parameters from the maximum delay parameter to obtain the delay compensation parameter of each of the intelligent controllers; wherein the delay compensation parameter is used to represent the time interval between the communication module receiving information from the main control processor and sending the information to the intelligent controller.

[0006] Optionally, the main control processor is further used to update the default delay compensation parameters pre-saved in the communication module to the determined delay compensation parameters.

[0007] Optionally, the communication module is used to receive information sent from the main control processor, and determine the time to send the information to the intelligent controller based on the delay compensation parameter.

[0008] Optionally, a first switch is provided on the line connecting the communication module and the intelligent controller, and the first switch is used to connect or disconnect the line between the communication module and the intelligent controller.

[0009] Optionally, the communication module includes: a delay compensation submodule, a data transceiver controller and a data transceiver connected in sequence, and the delay compensation submodule, the data transceiver controller and the data transceiver are respectively connected to the main control processor.

[0010] Optionally, the delay test module includes: a phase measurement submodule and a sine wave generator connected to each other; the sine wave generator is used to emit a sine wave signal to the intelligent controller; the phase measurement submodule is used to detect the phase difference between the phase of the reflected signal of the sine wave signal and the phase of the emitted sine wave signal, and calculate the first delay parameter based on the phase difference.

[0011] Optionally, the delay test module is connected to the intelligent controller via at least one communication line, and a second switch is provided on each of the communication lines, and the second switch is used to connect or disconnect the line between the delay test module and the intelligent controller.

[0012] Optionally, the main control processor is also used to send a delay compensation verification command to the intelligent controller; after receiving the confirmation message, the main control processor controls the closing of a second switch on a communication line, and controls the delay test module to send a sinusoidal wave signal to the intelligent controller, wherein the confirmation message is sent by the intelligent controller when it receives the delay compensation verification command.

[0013] Another embodiment of the present invention provides a control system, comprising the domain controller as described above and an intelligent controller connected to the domain controller.

[0014] The above technical solution of the present invention has at least the following beneficial effects:

[0015] In an embodiment of the present invention, a first delay parameter when the main control processor communicates with each intelligent controller is determined through a delay test module, and then a delay compensation parameter corresponding to each intelligent controller is determined based on multiple first delay parameters, which is used to adjust the time when the communication module sends a control command to the intelligent controller to ensure that the control commands sent by multiple communication modules to multiple intelligent controllers arrive at each intelligent controller at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 One of the schematic diagrams of connecting a domain controller and multiple intelligent controllers provided by the present invention;

[0017] Figure 2 A second schematic diagram of a connection between a domain controller and multiple intelligent controllers provided by the present invention;

[0018] Figure 3 A third schematic diagram of a connection between a domain controller and multiple intelligent controllers provided by the present invention;

[0019] Figure 4 A schematic diagram of a connection between a domain controller and an intelligent controller provided by the present invention;

[0020] Figure 5 A schematic diagram of connecting multiple domain controllers provided by the present invention. DETAILED DESCRIPTION

[0021] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will be described in detail in conjunction with the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help fully understand the embodiments of the present invention. Therefore, it should be clear to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present invention. In addition, for clarity and brevity, the description of known functions and structures is omitted.

[0022] It should be understood that the references to "one embodiment" or "an embodiment" throughout the specification mean that the specific features, structures, or characteristics associated with the embodiment are included in at least one embodiment of the present invention. Therefore, the references to "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0023] In various embodiments of the present invention, it should be understood that the size of the serial numbers of the following processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0024] It should be understood that the term "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0025] In the embodiments provided by the present invention, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that determining B according to A does not mean determining B only according to A, and B can also be determined according to A and / or other information.

[0026] like Figure 1 As shown, a schematic diagram of the connection between a domain controller and multiple intelligent controllers is provided. The domain controller of the present invention serves as the main control unit of a functional domain of the whole vehicle, and is externally connected to intelligent controllers 1 to n, and the connection method can be connected by a communication line. The domain controller can control the external intelligent controller. Specifically, through the calculation of the domain controller, control commands are sent to each intelligent controller. The domain controller coordinates the order in which each intelligent controller executes the control commands to ensure that the control commands can reach multiple intelligent controllers at the same time, avoiding multiple intelligent controllers from receiving control commands asynchronously, so as to achieve the purpose of precise control. Optionally, each intelligent controller can also feedback the control results to the domain controller.

[0027] It is understandable that the connection line between the delay compensation module and the intelligent controller, and the connection line between the communication module and the intelligent controller may be separate, that is, the delay compensation module and the communication module are connected to the intelligent controller respectively. Figure 1 This is just a connection diagram for saving communication lines and should not limit the present solution.

[0028] See also Figure 2 An embodiment of the present invention provides a domain controller, wherein the domain controller is connected to a plurality of intelligent controllers respectively, and the domain controller comprises: a main control processor, a delay test module and a plurality of communication modules; the main control processor is connected to the delay test module and each of the communication modules respectively; the main control processor communicates with the intelligent controller through the communication module; the delay test module is used to determine a first delay parameter when the main control processor communicates with each of the intelligent controllers;

[0029] The main control processor is used to determine the delay compensation parameters corresponding to each of the intelligent controllers according to the plurality of the first delay parameters, wherein the delay compensation parameters are used to adjust the time when the communication module sends a control command to the intelligent controller.

[0030] It should be noted that the delay test module in the present application can be one, and multiple communication modules correspond to one delay test module. There can also be multiple delay test modules, for example, one communication module corresponds to one delay test module, or some communication modules correspond to one delay test module, and other communication modules correspond to another delay test module. Optionally, the delay test module can also be connected to its corresponding communication module. Figure 2In the embodiment, one communication module corresponds to one delay test module, and one communication module is connected to one delay test module.

[0031] In the above embodiment, the first delay parameter when the main control processor communicates with each intelligent controller is determined by the delay test module, and then the delay compensation parameter corresponding to each intelligent controller is determined based on multiple first delay parameters, which is used to adjust the time when the communication module sends the control command to the intelligent controller to ensure that the control commands sent by multiple communication modules to multiple intelligent controllers reach each intelligent controller at the same time.

[0032] In one example, when the main control processor is used to determine the delay compensation parameter corresponding to each of the intelligent controllers according to the multiple first delay parameters, it is specifically used to: determine the maximum delay parameter among the multiple first delay parameters; subtract each of the first delay parameters from the maximum delay parameter to obtain the delay compensation parameter of each of the intelligent controllers. The delay compensation parameter is used to represent the time interval between the communication module receiving the information from the main control processor and sending the information to the intelligent controller.

[0033] For example, the communication delay between communication module 1 and intelligent controller 1 is 5ms, the communication delay between communication module 2 and intelligent controller 2 is 4ms, and the communication delay between communication module 3 and intelligent controller 3 is 3ms. For example, all three communication modules receive information about control instructions sent from the main control processor at 10:00, where the information about the control instructions is used to indicate that each communication module sends a control instruction to each intelligent controller at 10:00. If delay compensation is not performed, intelligent controller 1 receives information 5ms after 10 o'clock, intelligent controller 2 receives information 4ms after 10 o'clock, and intelligent controller 3 receives information 3ms after 10 o'clock.

[0034] In order to ensure that the three intelligent controllers receive the information at the same time, communication module 1 needs to send the information 1 ms earlier than communication module 2, and communication module 1 needs to send the information 2 ms earlier than communication module 3.

[0035] Among the above three first delay parameters, the maximum delay parameter is 5ms, then the delay compensation parameter corresponding to communication module 1 is 0ms, the delay compensation parameter corresponding to communication module 2 is 1ms, and the delay compensation parameter of communication module 3 is 2ms. That is, after receiving the information from the main control processor, communication module 1 directly sends it to intelligent controller 1, after receiving the information from the main control processor, communication module 2 sends it to intelligent controller 2 after a delay of 1ms, and after receiving the information from the main control processor, communication module 3 sends it to intelligent controller 3 after a delay of 2ms, thereby ensuring that the three intelligent controllers receive the information at the same time.

[0036] In one example, the main control processor is further used to update the default delay compensation parameters pre-saved in the communication module to the determined delay compensation parameters.

[0037] For example, for the communication module 3, the saved delay compensation parameter is 1 ms, and the delay compensation parameter determined here is 2 ms, so 2 ms can be saved to replace the original 1 ms.

[0038] In one example, the communication module receives information sent from the main control processor, and determines the time to send the information to the intelligent controller according to the delay compensation parameter.

[0039] For example, the three communication modules all receive the control instruction information sent from the main control processor at 10:00, wherein the control instruction information includes: communication module 1 sends the control instruction to intelligent controller 1 at 10:00, communication module 2 sends the control instruction to intelligent controller 2 at 10:00 after 1ms, and communication module 3 sends the control instruction to intelligent controller 3 at 10:00 after 2ms. In this way, the three intelligent controllers can receive the control instruction information at the same time at 5ms after 10:00.

[0040] Next, Figure 3 As shown in the figure, the delay test module and the communication module are introduced in detail.

[0041] The main control processor is respectively connected with the delay test module and each of the communication modules by using control and data buses.

[0042] For example, a first switch is provided on the line connecting the communication module and the intelligent controller, and the first switch is used to connect or disconnect the line between the communication module and the intelligent controller.

[0043] When the first switch conducts the line between the communication module and the intelligent controller, the two can communicate. When the first switch disconnects the line between the communication module and the intelligent controller, interference with the process of determining the first delay parameter by the delay test module can be avoided, thereby improving the accuracy of the delay parameter test by the delay test module.

[0044] For example, Figure 3 In the example, there are n communication modules, corresponding to n delay compensation submodules, corresponding to Figure 3 The delay compensation 1, delay compensation 2 and delay compensation n in the first switch are Figure 3 k2, k4 and k6 in .

[0045] The communication module includes: a delay compensation submodule, a data transceiver controller and a data transceiver connected in sequence, wherein the delay compensation submodule, the data transceiver controller and the data transceiver are respectively connected to the main control processor. The data transceiver is connected to the intelligent controller via the first switch.

[0046] The delay compensation submodule is used to send the delay compensation parameters to the data transceiver controller, so that the data transceiver controller adjusts the time when the data transceiver sends information (such as control commands) to the intelligent controller according to the delay compensation parameters.

[0047] For example, the delay test module includes: a phase measurement submodule and a sine wave generator connected to each other, wherein the sine wave generator is used to send a sine wave signal to the intelligent controller, and the phase measurement submodule is used to detect the phase difference between the phase of the reflected signal of the sine wave signal and the phase of the sent sine wave signal. The phase measurement submodule is also used to calculate the first delay parameter according to the phase difference.

[0048] In one example, the delay test module is connected to the intelligent controller via at least one communication line, and each communication line is provided with a second switch, the second switch being used to open or close the line between the delay test module and the intelligent controller. Figure 3 As shown, the delay test module is connected to the intelligent controller via two communication lines, and a second switch is provided on each of the communication lines, for example, k1-1, k1-2, k3-1, k3-2, k5-1, k5-2.

[0049] When the second switch conducts the line between the delay test module and the intelligent controller, a signal is transmitted between the delay test module and the intelligent controller to perform a delay test. When the delay test is completed, the second switch disconnects the line between the delay test module and the intelligent controller to prevent interference with the communication between the communication module and the intelligent controller.

[0050] It can be understood that the first switch is set on the line connecting the communication module and the intelligent controller, and when the first switch is disconnected, it does not affect the connection and disconnection of the line between the delay compensation module and the intelligent controller. Similarly, the second switch is set on the line connecting the delay compensation module and the intelligent controller, and when the second switch is disconnected, it does not affect the connection and disconnection of the line between the communication module and the intelligent controller.

[0051] In one example, the main control processor is also used to send a delay compensation verification command to the intelligent controller; after receiving a confirmation message, the main control processor controls the closing of a second switch on a communication line, and controls the delay test module to send a sinusoidal wave signal to the intelligent controller, wherein the confirmation message is sent by the intelligent controller when it receives the delay compensation verification command.

[0052] It should be noted that the main control processor controls the second switch on one communication line to close and controls the second switch on another communication line to open, thereby avoiding signal interference when the other communication line is turned on, thereby affecting the accuracy of the delay test result.

[0053] like Figure 4 As shown, a schematic diagram of the structure of an intelligent controller is provided, and the intelligent controller includes: a data transceiver, a data transceiver controller, a processor and an actuator connected in sequence. The processor and the data transceiver can also be connected. The data transceiver is connected to the domain controller, and a third switch (for example, k7) is provided on the line connecting the data transceiver and the domain controller.

[0054] Next, the delay adjustment process is described in detail by taking the intelligent controller 1 as an example. The communication logic between the domain controller and other intelligent controllers is the same as the communication logic between the domain controller and the intelligent controller 1, which will not be described here.

[0055] exist Figure 3 In the process, the main control processor communicates and controls with the data transceiver controller and the data transceiver through the control and data bus. When the domain controller is initially powered on, the main control processor first closes k2. After K2 is closed, the main control processor establishes a connection with the intelligent controller 1 so that the two can communicate. It should be noted that the delay compensation 1 module of the domain controller stores the delay compensation data, and the delay compensation 1 module uses the stored delay compensation data as the default value when it is initially powered on.

[0056] When the domain controller is initially powered on, the third switch k7 of the intelligent controller 1 is closed, so that the domain controller can communicate with the intelligent controller 1 after powering on. The processor of the intelligent controller 1 controls the data transceiver controller and the data transceiver to communicate with the main control processor.

[0057] When the domain controller communicates with the intelligent controller 1, the domain controller first sends a communication line delay compensation check command to the intelligent controller 1. After receiving the command, the intelligent controller 1 sends a reply command to the domain controller, and then the intelligent controller 1 controls the switch k7 to disconnect. At this time, the main control processor controls the delay test 1 module, controls the switch k1-1 to close and controls the switch k1-2 to disconnect (it can also control the switch k1-1 to disconnect and control the switch k1-2 to close). When one of the switches k1-1 and k1-2 is closed and the other is disconnected, the sine wave generator of the delay test 1 module sends a sine wave signal with a signal frequency of MHz level. The phase detection module detects the phase difference between the reflected signal of the sine wave signal and the phase difference of the emitted signal (as a time parameter), and then calculates the delay parameter. The calculation method is: delay parameter = phase difference / 2. After calculating the delay parameter, the intelligent controller 1 sends the delay parameter to the main processor of the main control processor for processing. It should be noted that when calculating the delay parameter, the phase difference needs to be processed to obtain the duration corresponding to the phase difference, and then the corresponding duration is used to calculate the delay parameter.

[0058] Similarly, when the domain controller is initially powered on, the main processor also performs the same verification process as the delay compensation 1 module together with other delay compensation modules, so that the main processor controls the delay test 2 to delay test n modules to obtain the delay parameters of each intelligent controller. All delay test modules pass the calculated delay parameters to the main processor for processing. The processing method is to find the delay parameter with the largest delay parameter among delay tests 1 to delay tests n, and then subtract each delay parameter from the largest delay parameter. The calculated delay parameter is then written to the delay compensation 1 to delay compensation n modules. Optionally, the processing method can also be to find the delay parameter with the smallest delay parameter among delay tests 1 to delay tests n, and then subtract the minimum delay parameter from all delay parameters. The calculated delay parameter is then written to the delay compensation 1 to delay compensation n modules.

[0059] It should be noted that after receiving the communication line delay compensation check command, the intelligent controller 1 closes the switch k7 after a preset time. Thus, the intelligent controller 1 establishes a communication connection with the domain controller, and then the intelligent controller 1 can receive the control instructions sent by the domain controller later. The preset time is determined according to the time used in the delay compensation check process, and the connection is generally made after a delay of 5 milliseconds. Like the intelligent controller 1, the intelligent controllers 2 to n are connected to the domain controller at the same time after the preset time.

[0060] After completing the delay compensation, the domain controller controls switches k1-1 and k1-2 to be disconnected, and controls switch k2 to be closed, so that the domain controller is connected to the intelligent controller 1 for communication. At the same time, the domain controller controls switches k3-1, k3-2, k5-1, and k5-2 to be disconnected, and controls switches k4 and k6 to be closed, so that the domain controller is connected to the intelligent controllers 2 to n for communication.

[0061] The above completes the initial communication settings. After the domain controller communication initial settings are completed, each intelligent controller can be controlled in real time. The main processor simultaneously places the communication data into the data transceiver controller of the corresponding intelligent controller to be controlled through the control and data bus, and sends the data at the same time. At this time, the data must be sent with different delays. The delay time is the delay value in the delay compensation module, that is, the delay compensation parameter. After receiving the communication data, each intelligent controller controls the actuator, thereby achieving real-time timing control of each actuator.

[0062] The sine wave frequency of the delay test module in the present invention can also be a signal of other frequencies, such as a GHz-level signal. When testing the delay, the switch k1-1 can be disconnected and the switch k1-2 can be closed. The sine wave frequency of the delay test module in the present invention can also be a signal of other frequencies, such as a GHz-level signal. When testing the delay, the switch k1-1 can be disconnected and the switch k1-2 can be closed.

[0063] The present invention can also connect multiple domain controllers together through communication lines for joint control. It can also be applied to existing vehicle-mounted Ethernet technology, replacing the communication lines and communication protocols of the present invention with Ethernet technology to improve existing Ethernet real-time technology. Figure 5 As shown, two domain controllers 1 and 2 are jointly controlled, and each domain controller is connected to 1-n intelligent controllers.

[0064] Another embodiment of the present invention provides a control system, comprising the domain controller described above and one or more intelligent controllers connected to the domain controller.

[0065] In addition, the present invention may repeat reference numerals and / or letters in different examples. This repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0066] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusions.

[0067] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A domain controller, wherein the domain controller is connected to a plurality of intelligent controllers respectively, characterized in that: include: A main control processor, a delay test module and a plurality of communication modules, wherein the main control processor is respectively connected to the delay test module and each of the communication modules; The main control processor communicates with the intelligent controller through the communication module, and the delay test module is used to determine the first delay parameter when the main control processor communicates with each of the intelligent controllers; The main control processor is used to determine the delay compensation parameter corresponding to each of the intelligent controllers according to the plurality of the first delay parameters, wherein the delay compensation parameter is used to adjust the time when the communication module sends a control command to the intelligent controller; A first switch is provided on the line connecting the communication module and the intelligent controller, and the first switch is used to turn on or off the line between the communication module and the intelligent controller; the delay test module is connected to the intelligent controller through at least one communication line, and a second switch is provided on each of the communication lines, and the second switch is used to turn on or off the line between the delay test module and the intelligent controller; the processor is connected to a data transceiver, and the data transceiver is connected to the domain controller, and a third switch is provided on the line connecting the data transceiver and the domain controller.

2. The domain controller according to claim 1, characterized in that: When the main control processor is used to determine the delay compensation parameter corresponding to each of the intelligent controllers according to the plurality of the first delay parameters, the main control processor is specifically used to: Determining a maximum delay parameter among the plurality of first delay parameters; Subtract each of the first delay parameters from the maximum delay parameter to obtain a delay compensation parameter of each of the intelligent controllers; The delay compensation parameter is used to represent the time interval between the communication module receiving the information from the main control processor and sending the information to the intelligent controller.

3. The domain controller according to claim 1, characterized in that: The main control processor is further used to update the default delay compensation parameters pre-stored in the communication module to the determined delay compensation parameters.

4. The domain controller according to claim 1, characterized in that: The communication module is used to receive information sent from the main control processor and determine the time to send the information to the intelligent controller according to the delay compensation parameter.

5. The domain controller according to claim 1, characterized in that: The communication module includes: a delay compensation submodule, a data transceiver controller and a data transceiver which are connected in sequence, and the delay compensation submodule, the data transceiver controller and the data transceiver are respectively connected to the main control processor.

6. The domain controller according to any one of claims 1 to 5, characterized in that: The delay test module includes: A phase measurement submodule and a sine wave generator connected to each other; The sine wave generator is used to send a sine wave signal to the intelligent controller; The phase measurement submodule is used to detect the phase difference between the phase of the reflected signal of the sinusoidal wave signal and the phase of the emitted sinusoidal wave signal, and calculate the first delay parameter according to the phase difference.

7. The domain controller according to claim 6, characterized in that: The main control processor is also used to send a delay compensation verification command to the intelligent controller; After receiving the confirmation message, the main control processor controls the closing of a second switch on a communication line and controls the delay test module to send a sinusoidal wave signal to the intelligent controller, wherein the confirmation message is sent by the intelligent controller when it receives the delay compensation verification command.

8. A control system, characterized in that: The method comprises a domain controller as claimed in any one of claims 1 to 7 and an intelligent controller connected to the domain controller.

Images