Controller state control method and device, controller and electric vehicle

Abstract

The application discloses a controller state control method and device, a controller and an electric vehicle, and relates to the technical field of automobile control. The method comprises the following steps: receiving a first message, wherein the first message is a message on a controller area network (CAN) with flexible data rate (CANFD) bus supporting a variable bit rate; in the case that it is determined that the first message is not a network management message, controlling the controller to be in a sleep state; and in the case that it is determined that the first message is a network management message, controlling the controller to be in a working state. According to the scheme, in the case that the received message is not a network management message, the controller can keep in a sleep state without sending a message to a network or performing an unexpected output, interference to a whole vehicle network is avoided, and the energy consumption of the whole vehicle is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile control, and in particular to a controller state control method and device, a controller and an electric vehicle. BACKGROUND

[0002] With the development of vehicle intelligence, the requirement for vehicle communication rate is higher and higher. At present, the mainstream communication is Control Area Network (CAN) communication, Control Area Network Flexible Data-rate (CANFD) and Ethernet communication supporting variable bit rate become the first choice of various manufacturers to improve safety and intelligence. However, there is still no unified scheme and chip support for the Automotive Open System Archiecture (Autosar) network management based on CANFD.

[0003] Based on the network management of Autosar, the controller needs to be awakened according to a specific network management message. However, due to the particularity of the CANFD message, the current CAN chip cannot support the confirmation of a specific network management message, which leads to the fact that the controller will also be awakened to normally receive and transmit messages in the case of receiving unexpected network messages, thereby interfering with the vehicle network and increasing the energy consumption of the vehicle. SUMMARY

[0004] The purpose of the present application is to provide a controller state control method, device, controller and electric vehicle, thereby solving the problem that the controller sends messages to the network or produces unexpected output when receiving unexpected network messages in the prior art.

[0005] In order to achieve the above purpose, the present application provides a controller state control method applied to a controller, comprising:

[0006] receiving a first message, wherein the first message is a message on a CANFD bus supporting variable bit rate;

[0007] in the case of determining that the first message is not a network management message, controlling the controller to be in a sleep state;

[0008] in the case of determining that the first message is a network management message, controlling the controller to be in a working state.

[0009] Optionally, in the case of determining that the first message is not a network management message, controlling the controller to be in a sleep state, comprising:

[0010] controlling a message transceiving function of a CAN transceiver in the controller to be in a closed state.

[0011] Optionally, in a case where it is determined that the first message is not a network management message, the controller is controlled to be in a sleep state, including:

[0012] a network wake-up exception flag bit is set to a first preset value.

[0013] an output interface of the controller is controlled to be in a pre-set default state.

[0014] Optionally, in a case where it is determined that the first message is not a network management message, the controller is controlled to be in a sleep state, including:

[0015] a bottom layer of the controller is prohibited from sending an analysis result of the first message to an application layer of the controller.

[0016] Optionally, the method further includes:

[0017] in a case where the first message is not a network management message, if a first wake-up request is received, a power-on process is performed; wherein the first wake-up request is a wake-up request other than a message wake-up.

[0018] Optionally, receiving the first message includes:

[0019] in a case where the controller is in a sleep state, or in a case where a bottom layer of the controller completes network release, the first message is received.

[0020] Embodiments of the present application provide a controller state control device, applied to a controller, including:

[0021] a receiving module, configured to receive a first message, wherein the first message is a message on a controller area network (CAN) with flexible data rate (CANFD) bus supporting a variable bit rate;

[0022] a first control module, configured to, in a case where it is determined that the first message is not a network management message, control the controller to be in a sleep state;

[0023] a second control module, configured to, in a case where it is determined that the first message is a network management message, control the controller to be in a working state.

[0024] Optionally, the first control module includes:

[0025] a first control submodule, configured to control a message transceiving function of a CAN transceiver in the controller to be in a closed state.

[0026] Optionally, the first control module includes:

[0027] a second control submodule, configured to set a network wake-up exception flag bit to a first preset value;

[0028] a third control submodule, configured to control an output interface of the controller to be in a preset default state.

[0029] Optionally, the first control module comprises:

[0030] a fourth control submodule, configured to prohibit a bottom layer of the controller from sending a result of analyzing the first message to an application layer of the controller.

[0031] Optionally, the apparatus further comprises:

[0032] a third control module, configured to, if the first message is not a network management message, execute a power-on process if a first wake-up request is received; wherein the first wake-up request is a wake-up request other than a message wake-up.

[0033] Optionally, the receiving module is configured to:

[0034] receive the first message when the controller is in a sleep state, or when a bottom layer of the controller completes network release.

[0035] Embodiments of the present application further provide a controller, comprising a processor, a memory, and a program stored in the memory and executable in the processor, and the program, when executed by the processor, implements the steps of the controller state control method.

[0036] Embodiments of the present application further provide an electric vehicle comprising the controller.

[0037] Embodiments of the present application further provide a readable storage medium, wherein the readable storage medium stores a program, and the program, when executed by a processor, implements the steps of the controller state control method.

[0038] The above technical solutions of the present application have at least the following beneficial effects:

[0039] The state control method of the controller of the embodiment of the present application first receives a first message, wherein the first message is a message on a controller area network with flexible data rate (CANFD) bus supporting variable bit rate; in the case of determining that the first message is not a network management message, the controller is controlled to be in a sleep state; in the case of determining that the first message is a network management message, the controller is controlled to be in a working state. In this way, after the CAN transceiver in the controller receives the first message on the CANFD bus, the first message is determined to determine whether the first message is a network management message, so as to determine whether the controller should be in a sleep state or a working state according to the determination result. In this way, the CAN transceiver of the controller directly wakes up the main control unit of the controller after receiving the message on the CANFD bus, the controller sends a message on the bus to further wake up other controllers on the bus, which disturbs the whole vehicle network and increases the energy consumption of the whole vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 One of the flowcharts of the controller state control method of the embodiment of the present application;

[0041] Figure 2 The second flowchart of the controller state control method of the embodiment of the present application;

[0042] Figure 3 The structural schematic diagram of the controller state control device of the embodiment of the present application. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0044] The terms "first", "second", and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein. In addition, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / ", generally indicates that the front and rear associated objects are in an "or" relationship.

[0045] The controller state control method provided by the embodiments of the present application will be described in detail below in combination with the drawings and specific embodiments and application scenarios.

[0046] AsFigure 1 Fig. 1 shows a flow diagram of a method for controlling the state of a controller according to an embodiment of the present application. The method comprises the following steps:

[0047] In step 101, a first message is received. The first message is a message on a controller area network (CAN) with flexible data rate (CANFD) bus supporting a variable bit rate.

[0048] It should be noted that the CANFD bus is an upgraded version of the traditional CAN bus. Compared with the traditional CAN bus, the CANFD bus has the advantages of supporting a variable rate and supporting longer data, and is more suitable for vehicles with more and more functions.

[0049] In step 102, if it is determined that the first message is not a network management message, the controller is controlled to be in a sleep state.

[0050] In step 103, if it is determined that the first message is a network management message, the controller is controlled to be in an active state.

[0051] That is, after the CAN transceiver of the controller receives the first message on the CANFD bus, the controller (specifically, the bottom layer of the controller) first judges the first message to determine whether the first message is a network management message, and then determines whether the controller should be in a sleep state or an active state according to the determination result.

[0052] The method for controlling the state of the controller according to the embodiment of the present application, after the CAN transceiver of the controller receives the first message on the CANFD bus, the operating system of the controller calls the periodic task of the bottom layer to determine whether the first message is a network management message, and then determines whether the controller should be in a sleep state or an active state according to the determination result. In this way, the CAN transceiver of the controller is prevented from directly waking up the main control unit of the controller after receiving the message on the CANFD bus, and the controller is prevented from sending messages on the bus to further wake up other controllers on the bus, thereby avoiding interference with the vehicle network. In addition, the energy consumption of the vehicle is reduced.

[0053] As an optional implementation, in step 102, if it is determined that the first message is not a network management message, the controller is controlled to be in a sleep state, comprising:

[0054] The message receiving and transmitting function of the CAN transceiver in the controller is controlled to be in a closed state.

[0055] In the optional implementation, in the case that it is determined that the first message is not a network management message, it is determined that the controller currently does not need to be woken up, i.e., the controller currently should be in a sleep state, and in the case that the controller is in the sleep state, the controller does not send a message to the CAN network to initiate information interaction with other controllers, therefore, in the optional implementation, in the case that it is determined that the first message is not a network management message, the message sending and receiving functions of each CAN transceiver in the controller are controlled to be in a closed state, so as to avoid that the controller sends a message to the CANFD bus or generates an unexpected output, thereby interfering with the whole vehicle network.

[0056] As another optional implementation, step 102, in the case that it is determined that the first message is not a network management message, the controller is controlled to be in a sleep state, comprising:

[0057] Step 1: setting a network wake-up exception flag bit to a first preset value.

[0058] Here, it should be noted that after the CAN transceiver in the controller receives the first message, the bottom layer of the controller judges the first message to determine whether the first message is a network management message; in the case that it is determined that the first message is not a network management message, the bottom layer of the controller sets the network wake-up exception flag bit to the first preset value.

[0059] As the name implies, the network wake-up exception flag bit is a parameter representing whether the network wake-up is abnormal. In the case that it is determined that the first message is not a network management message, it is determined that the message wake-up this time is an abnormal wake-up, i.e., although the CAN transceiver currently receives a message on the CANFD bus, the controller does not need to be woken up at present, therefore, the bottom layer sets the network wake-up exception flag bit to the first preset value, so that the application layer of the controller can determine that the wake-up in the current state is a wake-up in an abnormal state according to the network wake-up exception flag bit, and the controller currently should be in a sleep state. Optionally, the first preset value is 1.

[0060] Step 2: controlling the output interface of the controller to be in a pre-set default state.

[0061] In this step, the application layer of the controller determines that the current wake-up is in an abnormal state according to the network wake-up exception flag bit, i.e., it is determined that the current controller should be in a sleep state, and the application layer of the controller outputs a preset signal to each output interface (hardwire) according to a pre-configuration rule, so that each hardwire is always in a pre-set default state, thereby avoiding that the controller outputs an unexpected signal to the CAN network, so that other controllers think that the controller is currently in a sleep state.

[0062] In the optional implementation, in a case where it is determined that the first message is not a network management message, the bottom layer of the controller sets a network wake-up exception flag to a first preset value, so that the application layer of the controller can confirm that the current state is an abnormal wake-up state according to the network wake-up exception flag, and thus outputs a preset signal to each output interface / hardwire of the controller, so that each output interface / hardwire is in a preset default state, avoiding unexpected output of the controller, so that the CAN network will not be woken up due to the output of the controller, reducing interference to the whole vehicle network and reducing energy consumption of the whole vehicle.

[0063] As an optional implementation, step 102, in a case where it is determined that the first message is not a network management message, the controller is controlled to be in a sleep state, including:

[0064] The bottom layer of the controller is prohibited from sending an analysis result of the first message to the application layer of the controller.

[0065] Here, it should be noted that after the CAN transceiver of the controller receives the first message, the bottom layer of the controller analyzes the first message and determines whether the first message is a network management message; if it is determined that the first message is not a network management message, it is determined that the current state is an abnormal wake-up, that is, the controller does not need to be woken up, so that the bottom layer of the controller does not send the analysis result of the first message to the application layer, so as to avoid the application layer from sending message information to the CAN network based on the analysis result, causing interference to the whole vehicle network and increasing energy consumption of the whole vehicle.

[0066] Further, as an optional implementation, the method further includes: in a case where the first message is not a network management message, if a first wake-up request is received, performing a power-on process; wherein the first wake-up request is a wake-up request other than a message wake-up.

[0067] That is, in a case where the bottom layer of the controller determines that the first message is not a network management message and the current wake-up of the controller through a message is abnormal, the bottom layer of the controller also monitors and determines whether a wake-up request of another local wake-up source is received, and if the wake-up request of another wake-up source is received, the controller is woken up based on the wake-up request of another wake-up source, so that the controller enters a normal power-on process and thus enters a working state, meeting the current needs of the user.

[0068] As an optional implementation, step 101, receiving the first message, includes:

[0069] In a case where the controller is in a sleep state, or in a case where the bottom layer of the controller completes network release, the first message is received.

[0070] That is, the controller state control method of the embodiments of the present application can be applied to the first application scenario in which the controller is currently in the sleep state, and can also be applied to the second application scenario in which the controller is currently switching from the working state to the sleep state. In the first application scenario, the controller state control method of the embodiments of the present application is adopted, on the one hand, the wake-up pin of the CAN transceiver is pulled high after the controller receives the message, which leads to an increase in the energy consumption of the whole vehicle; on the other hand, the controller is woken up after receiving the message, which causes interference to the whole vehicle network. In the second application scenario, the controller state control method of the embodiments of the present application is adopted, which avoids the situation that the wake-up pin of the CAN transceiver of the controller is always pulled high due to the existence of the message in the CAN network during the process of switching the controller from the working state to the sleep state, so that the controller cannot enter the sleep state, resulting in an increase in the energy consumption of the whole vehicle.

[0071] In the following, the controller state control method of the embodiments of the present application is described in combination with Figure 2 The specific implementation of the controller state control method of the embodiments of the present application in the above two application scenarios is described as follows:

[0072] Step 201: the controller enters the sleep state;

[0073] Step 202: the controller receives any message of the network;

[0074] Step 203: the wake-up pin of the CAN transceiver is pulled high, and the power supply chip supplies power to the main control chip;

[0075] Step 204: the hardware of the controller completes the initialization setting;

[0076] Step 205: the operating system is started, and the initialization of the bottom layer and the application layer is completed;

[0077] Step 206: the bottom layer periodically judges any message;

[0078] Step 207: whether it is a network management message; that is, it is determined whether the current received message of the network is a network management message; if yes, step 212 is executed, and if no, step 208 is executed and returns to step 206;

[0079] Step 208: the bottom layer sets the network wake-up exception flag bit to 1;

[0080] Step 209: the message sending and receiving function of all the CAN transceivers is in the closed state;

[0081] Step 210: the bottom layer does not assign values to the CAN input signal of the application layer, that is, the bottom layer does not send the analysis result of the message to the application layer;

[0082] Step 211: calling an application layer function, and the application layer function controls the output of the hardwire to be in a default state according to the network exception wake-up flag;

[0083] Step 212: setting the network wake-up exception flag to 0 by the bottom layer;

[0084] Step 213: controlling the message receiving and sending functions of all CAN transceivers to be in an open state, and calling the application layer function; that is, the controller is normally powered on;

[0085] Step 214: setting the application layer power-off request flag to 1; it should be noted that this step is performed after receiving the power-off request of the user;

[0086] Step 215: completing network release by the bottom layer;

[0087] Step 216: determining whether there is still an application message on the network; if yes, performing step 206, and if no, performing step 201.

[0088] The controller state control method of the embodiment of the application, in the case that the controller is in a sleep state or in the case that the controller is switched from a working state to a sleep state, if a first message is received, the first message is determined, in the case that the first message is determined to be a network management message, the controller is controlled to be normally powered on, and in the case that the first message is determined to be not a network management message, the controller is still controlled to be in a sleep state, specifically, the message receiving and sending function of the CAN transceiver is in a closed state, the bottom layer does not send a message analysis result to the application layer, and the output of each hardwire is in a default state, thus avoiding the controller from sending a message to the outside or having an unexpected output to interfere with the network in this case, and reducing the energy consumption of the whole vehicle.

[0089] As shown in Figure 3 The embodiment of the application further provides a controller state control device applied to a controller, comprising:

[0090] A receiving module 301 is configured to receive a first message, wherein the first message is a message on a controller area network (CAN) with flexible data rate (CANFD) bus supporting a variable bit rate;

[0091] A first control module 302 is configured to control the controller to be in a sleep state in the case that the first message is determined to be not a network management message.

[0092] A second control module 303 is configured to control the controller to be in a working state in the case that the first message is determined to be a network management message.

[0093] The state switching device of the controller of the embodiment of the application first receives a first message, wherein the first message is a message on a controller area network with flexible data rate (CANFD) bus supporting a variable bit rate; the first control module 302 controls the controller to be in a sleep state in a case where it is determined that the first message is not a network management message; and the second control module 303 controls the controller to be in a working state in a case where it is determined that the first message is a network management message. In this way, after the CAN transceiver in the controller receives the first message on the CANFD bus, the first message is determined to determine whether the first message is a network management message, so that it is determined according to the determination result whether the controller should be in a sleep state or a working state. In this way, the CAN transceiver of the controller directly wakes up the main control unit of the controller after receiving the message on the CANFD bus, the controller sends a message on the bus to further wake up other controllers on the bus, which disturbs the whole vehicle network and increases the energy consumption of the whole vehicle.

[0094] Optionally, the first control module comprises:

[0095] The first control sub-module is configured to control the message sending and receiving function of the CAN transceiver in the controller to be in a closed state.

[0096] Optionally, the first control module 302 comprises:

[0097] The second control sub-module is configured to set the network wake-up exception flag bit to a first preset value.

[0098] The third control sub-module is configured to control the output interface of the controller to be in a pre-set default state.

[0099] Optionally, the first control module 302 comprises:

[0100] The fourth control sub-module is configured to prohibit the bottom layer of the controller from sending the analysis result of the first message to the application layer of the controller.

[0101] Optionally, the device further comprises:

[0102] The third control module is configured to execute a power-on process if a first wake-up request is received in a case where the first message is not a network management message, wherein the first wake-up request is a wake-up request other than a message wake-up.

[0103] Optionally, the receiving module 301 is configured to:

[0104] Receive the first message in a case where the controller is in a sleep state or in a case where the bottom layer of the controller completes network release.

[0105] The embodiment of the application further provides a controller, comprising a processor, a memory, and a program stored in the memory and executable in the processor, which, when executed by the processor, implements each process of the embodiment of the controller state control method and achieves the same technical effects. To avoid repetition, details are not described herein.

[0106] The embodiment of the application further provides an electric vehicle comprising the controller.

[0107] The embodiment of the application further provides a readable storage medium, which stores a program executable in a processor, which, when executed by the processor, implements each process of the embodiment of the controller state control method and achieves the same technical effects. To avoid repetition, details are not described herein. The readable storage medium is, for example, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.

[0108] Finally, it should be noted that, in this document, relational terms such as first and second and the like can only be used to distinguish one entity or action from another entity or action, without necessarily requiring or implying any actual such relationship or order between or among the entities or actions. Moreover, the terms "comprises", "comprising", or any other variations 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 can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more limitations, an element defined by the statement "comprising a... " does not exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the stated elements.

[0109] The above describes the preferred embodiments of the application. It should be noted that, for those skilled in the art, without departing from the principles of the application, several improvements and refinements can be made, which should also be considered as the protection scope of the application.

Claims

1. A controller state control method, applied to a controller, characterized in that, include: Receiving the first message includes: receiving the first message when the controller is in a sleep state, or when the underlying layer of the controller completes network release; wherein the first message is a message on the CANFD bus of the controller local area network that supports variable bit rate. If it is determined that the first message is not a network management message, the controller is put into a sleep state, including: controlling the message transmission and reception function of the CAN transceiver in the controller to be turned off; the underlying layer of the controller sets the network wake-up abnormal flag to a first preset value; if the application layer of the controller determines that the current wake-up is in an abnormal state according to the network wake-up abnormal flag, it controls the output interface of the controller to be in a preset default state according to the pre-configured rules. If the first message is determined to be a network management message, the controller is put into an operating state. The controller state control method is applicable to a first application scenario where the controller is currently in a sleep state, or to a second application scenario where the controller is switching from a working state to a sleep state. The implementation steps for both application scenarios include: the controller entering a sleep state; the controller receiving any network packet; the wake-up pin of the CAN transceiver being pulled high, and the power supply chip supplying power to the main control chip; the controller's hardware completing initialization settings; the operating system starting and completing the initialization of the underlying and application layers; the underlying periodic task judging any packet; and determining whether the currently received network packet is a network management packet. If any network message received is a network management message, the underlying layer sets the network wake-up exception flag to 0, controls all CAN transceivers to have their message transmission and reception functions enabled, and calls the application layer function; after receiving the user's power-down request, the application layer sets the power-down request flag to 1; the underlying layer completes network release; it checks if there are still application messages on the network; if so, it executes the underlying layer's periodic task to check any message; if not, it executes the step of the controller entering sleep mode. If any network message received is not a network management message, the underlying layer sets the network wake-up exception flag to 1; the message transmission and reception functions of all CAN transceivers are turned off; the underlying layer does not send the message parsing results to the application layer; the application layer function is called, and the application layer function controls the output of the hardwire to be in the default state according to the network exception wake-up flag.

2. The method according to claim 1, characterized in that, If it is determined that the first message is not a network management message, the controller is put into a sleep state, including: The underlying layer of the controller is prohibited from sending the parsing result of the first message to the application layer of the controller.

3. The method according to claim 1, characterized in that, The method further includes: If the first message is not a network management message, and a first wake-up request is received, the power-on procedure is executed; wherein, the first wake-up request is a wake-up request other than a message wake-up request.

4. A controller state control device, applied to a controller, characterized in that, include: A receiving module is configured to receive a first message, wherein the first message is a message on a CANFD bus of a controller local area network that supports variable bit rate; the receiving module is configured to receive the first message when the controller is in a sleep state, or when the underlying layer of the controller has completed network release. The first control module is used to control the controller to enter a sleep state when it is determined that the first message is not a network management message. The first control module includes: a first control submodule, used to control the message transmission and reception function of the CAN transceiver in the controller to be turned off; a second control submodule, used to set the network wake-up abnormal flag bit to a first preset value by the controller's underlying layer; and a third control submodule, used to control the controller's output interface to a preset default state according to pre-configured rules when the controller's application layer determines that the current wake-up is in an abnormal state based on the network wake-up abnormal flag bit. The second control module is used to control the controller to be in a working state when it is determined that the first message is a network management message; The controller state control method is applicable to a first application scenario where the controller is currently in a sleep state, or to a second application scenario where the controller is switching from a working state to a sleep state. The implementation steps for both application scenarios include: the controller entering a sleep state; the controller receiving any network packet; the wake-up pin of the CAN transceiver being pulled high, and the power supply chip supplying power to the main control chip; the controller's hardware completing initialization settings; the operating system starting and completing the initialization of the underlying and application layers; the underlying periodic task judging any packet; and determining whether the currently received network packet is a network management packet. If any network message received is a network management message, the underlying layer sets the network wake-up exception flag to 0, controls all CAN transceivers to have their message transmission and reception functions enabled, and calls the application layer function; after receiving the user's power-down request, the application layer sets the power-down request flag to 1; the underlying layer completes network release; it checks if there are still application messages on the network; if so, it executes the underlying layer's periodic task to check any message; if not, it executes the step of the controller entering sleep mode. If any network message received is not a network management message, the underlying layer sets the network wake-up exception flag to 1; the message transmission and reception functions of all CAN transceivers are turned off; the underlying layer does not send the message parsing results to the application layer; the application layer function is called, and the application layer function controls the output of the hardwire to be in the default state according to the network exception wake-up flag.

5. The apparatus according to claim 4, characterized in that, The first control module includes: The fourth control submodule is used to prevent the underlying layer of the controller from sending the parsing result of the first message to the application layer of the controller.

6. The apparatus according to claim 4, characterized in that, The device further includes: The third control module is used to execute a power-on procedure if a first wake-up request is received when the first message is not a network management message; wherein the first wake-up request is a wake-up request other than a message wake-up request.

7. A controller, characterized in that, include: A processor, a memory, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the steps of the controller state control method as described in any one of claims 1 to 3.

8. An electric vehicle, characterized in that, Includes the controller as described in claim 7.

9. A readable storage medium, characterized in that, The readable storage medium stores a program that, when executed by a processor, implements the steps of the controller state control method as described in any one of claims 1 to 3.

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