A vehicle-mounted radar network group control method, system, vehicle and storage medium

Abstract

The present invention relates to the technical field of vehicle-mounted radars, and in particular to a vehicle-mounted radar network group control method, system, automobile and storage medium. The method comprises: defining one of the vehicle-mounted radars as a master node, the vehicle-mounted radar network group participates in bus communication through the master node, and the remaining vehicle-mounted radars access the bus through the internal network using the master node; when it is detected that the master node is lost and cannot participate in bus communication, the control system sequentially accesses the other vehicle-mounted radars to the bus communication according to the ID priority of the other vehicle-mounted radars until the access is successful, and redefines the vehicle-mounted radar that has successfully accessed as the master node. The present invention controls multiple vehicle-mounted radars through a control system, and switches the master node when the master node fails or cannot respond. This solution can increase the robustness of the networking solution while retaining the design advantage of the previous single-node access, that is, without increasing the vehicle body bus load.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle-mounted radars, and in particular to a vehicle-mounted radar network group control method, system, vehicle and storage medium. Background Art

[0002] Radar is widely used as a vehicle-mounted sensor in the vehicle body. A vehicle may be equipped with multiple radar devices, which are distributed in various locations in the vehicle to detect various locations of the vehicle. The commonly used vehicle-mounted radar main network method is as follows: among multiple radars, one radar product is selected to be connected to the vehicle body CAN, and other radars form an internal network through a private CAN, thereby saving costs, reducing bus load and improving integration stability. However, in the current networking method, if the vehicle-mounted radar connected to the vehicle body CAN fails, it is easy to cause the entire radar system to be paralyzed, and other normal radar nodes cannot be used normally. Summary of the invention

[0003] The present invention aims to solve the technical problem that a failure of an on-board radar connected to a vehicle body CAN in a current automobile may easily lead to the paralysis of the entire radar system, and provides a method, system, automobile and storage medium for controlling an on-board radar network group.

[0004] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0005] A vehicle-mounted radar network group control method is applied to a vehicle-mounted radar network group, wherein the vehicle-mounted radar network group includes a plurality of vehicle-mounted radars, each of which is interconnected through an internal network, connected to a vehicle body CAN bus, and connected to a control system of the vehicle; the method includes:

[0006] One of the vehicle-mounted radars is defined as a master node, and the vehicle-mounted radar network group participates in bus communication through the master node, and the remaining vehicle-mounted radars access the bus through the internal network using the master node;

[0007] When it is detected that the master node is lost and cannot participate in the bus communication, the control system connects other vehicle-mounted radars to the bus communication in sequence according to their ID priorities until the access is successful, and redefines the successfully connected vehicle-mounted radar as the master node.

[0008] Furthermore, the ID of the vehicle-mounted radar is obtained when it is connected to the vehicle body CAN. The vehicle-mounted radar is connected to the control system according to the communication ID, and communicates with the main node and performs corresponding analysis.

[0009] Furthermore, the method further comprises:

[0010] After the vehicle is awakened from sleep again, it is re-detected whether the vehicle-mounted radar initially defined as the master node can participate in the bus communication. If so, it is redefined as the master node to participate in the bus communication.

[0011] Furthermore, the vehicle is awakened from sleep again by shutting down and locking the vehicle.

[0012] Further, the ID priorities of the other vehicle-mounted radars are connected to the bus communication in sequence until the connection is successful, including:

[0013] According to the ID priority of the vehicle-mounted radar outside the main node, try to access the bus communication one by one;

[0014] When the vehicle-mounted radar with the first priority ID fails to access or does not respond for a long time, try to access the vehicle-mounted radar with the second priority ID and continue to access according to this logic until a vehicle-mounted radar that can be successfully accessed appears;

[0015] The vehicle-mounted radar is defined as the master node to participate in bus communication, and other vehicle-mounted radars access the bus through the internal network using the master node.

[0016] Furthermore, after switching the master node, if the vehicle-mounted radar initially defined as the master node is restored, no network node communication change is performed and the current communication state is maintained.

[0017] Furthermore, the vehicle-mounted radars in the vehicle-mounted radar network group include one or more of ultrasonic radars, laser radars and millimeter-wave radars.

[0018] In a second aspect, the present invention provides a vehicle-mounted radar network group control system, characterized in that it includes a control system and a vehicle-mounted radar network group, the vehicle-mounted radar network group includes multiple vehicle-mounted radars, each of the vehicle-mounted radars is interconnected through an internal network, and is respectively connected to the vehicle body CAN bus, and is controlled and connected to the control system of the car; the control system controls the vehicle-mounted radar network group to perform bus communication through the above-mentioned vehicle-mounted radar network group control method.

[0019] In a third aspect, the present invention provides a car, comprising the vehicle-mounted radar network group control system as claimed in the claims above.

[0020] In a fourth aspect, the present invention further provides a storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the above-mentioned vehicle-mounted radar network group control method is implemented.

[0021] The present invention controls multiple vehicle-mounted radars through a control system, and switches the main node when the main node fails or cannot respond. This solution can increase the health of the networking solution while retaining the design advantage of the previous single-node access, that is, without increasing the vehicle body bus load, to ensure that the single point failure of the vehicle-mounted radar will not affect the normal functions of other node devices, thereby improving the operational reliability of the vehicle-mounted radar network group. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural flow chart of the vehicle-mounted radar network group control method in an embodiment of the present invention.

[0023] Figure 2 Schematic diagram of the structure of the vehicle-mounted radar network group in an embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The described embodiments are only part of the embodiments of the present invention, not all of them.

[0025] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] Embodiment 1

[0027] Figure 1 The structure flow chart of the vehicle-mounted radar network group control method in this embodiment is shown; Figure 2 A schematic diagram of the structure of the vehicle-mounted radar network group in this embodiment is shown.

[0028] like Figure 1 As shown, this embodiment provides a vehicle-mounted radar network group control method, which is mainly used to realize the communication connection between multiple vehicle-mounted radars in the car and between the vehicle-mounted radar and the bus. Based on the fact that a car may deploy multiple radar devices at present, in order to save costs, reduce bus load and integration stability, the commonly used vehicle-mounted radar main network method is as follows: only one radar product is connected to the body CAN, and the other radars form an internal network through the private CAN. However, in the actual operation of the car, if the radar connected to the body CAN bus fails, the entire radar system will be paralyzed, and other normal radar nodes will also be unusable.

[0029] To this end, this embodiment provides a vehicle-mounted radar network group control method that can address the above technical problems. The method is applied to a vehicle-mounted radar network group, wherein the vehicle-mounted radar network group is a network group composed of multiple vehicle-mounted radars in a car, which includes multiple vehicle-mounted radars. In the network group, each vehicle-mounted radar is interconnected through an internal network and is respectively connected to the vehicle body CAN bus. Specifically, each vehicle-mounted radar is also connected to the control system control of the car. Different from the conventional vehicle-mounted radar network group, each vehicle-mounted radar in this embodiment is respectively connected to the vehicle body CAN bus, but not all vehicle-mounted radars will participate in the communication with the vehicle body CAN bus, but only one vehicle-mounted radar is defined as the master node to participate in the bus communication. The remaining vehicle-mounted radars only take over the bus communication work in the case of failure or non-response.

[0030] The method in this embodiment is based on the above-mentioned vehicle-mounted radar network group, and solves the above-mentioned technical problem by executing the following method through the control system, wherein the method specifically:

[0031] 101. One of the vehicle-mounted radars is defined as the master node. The vehicle-mounted radar network group participates in the bus communication through the master node, and the remaining vehicle-mounted radars access the bus through the internal network using the master node.

[0032] Among them, the master node refers to the vehicle radar as a communication node that communicates with the vehicle body CAN bus. Since the vehicle radars are connected through the internal network, multiple vehicle radars only need to use one vehicle radar as the master node to connect to the vehicle body CAN bus, and the remaining vehicle radars can receive information through the internal network and perform corresponding analysis. This communication method can save automobile costs and reduce bus load and integration stability.

[0033] 102. When it is detected that the master node is lost and cannot participate in the bus communication, the control system connects other vehicle-mounted radars to the bus communication in sequence according to their ID priorities until the connection is successful, and redefines the vehicle-mounted radar that has been successfully connected as the master node.

[0034] Among them, when the main node fails, it is easy to cause the entire radar system to be paralyzed, and other normal radar nodes cannot be used. Therefore, the control system will monitor the communication status of the vehicle-mounted radar where the main node is located in real time. When it is detected that the main node has not responded within the preset time period, the control system will define other vehicle-mounted radars as the main nodes and take over the tasks of participating in bus communication.

[0035] During the redefinition and takeover process, the control system tries to connect other vehicle-mounted radars to the bus communication in turn according to their ID priorities. Of course, during the access process, the vehicle-mounted radars are accessed one by one. If there is no response during the access process, the vehicle-mounted radar will be switched until the access is successful. Finally, the vehicle-mounted radar that has been successfully connected will be redefined as the main node.

[0036] After redefining, the method further includes:

[0037] 103. After the vehicle is awakened from sleep mode again, the vehicle-mounted radar initially defined as the master node is re-detected to see whether it can participate in bus communication. If so, it is redefined as the master node to participate in bus communication.

[0038] Among them, after the vehicle-mounted radar originally defined as the main node is restored, the control system does not change the network node communication, but maintains the current communication status. Only after waking up from sleep again, the vehicle-mounted radar will re-access the main node through the vehicle body CAN access point. The advantage of this approach is that it can reduce bus changes and increase stability.

[0039] It is worth noting that the above-mentioned vehicle re-sleeping and waking up specifically refers to re-waking up the vehicle after the vehicle is turned off and locked. Of course, in some implementations, the user or the manufacturer can also redefine the re-sleeping and waking up according to needs.

[0040] The ID of the vehicle-mounted radar is obtained when it is connected to the vehicle body CAN. The vehicle-mounted radar is connected to the control system according to the communication ID, and communicates with the main node and performs corresponding analysis.

[0041] In the above step 102, the ID priority of other vehicle-mounted radars is set, and other vehicle-mounted radars are connected to the bus communication in sequence until the connection is successful. Specifically, the steps include:

[0042] According to the ID priority of the vehicle-mounted radar outside the main node, try to access the bus communication one by one;

[0043] When the vehicle-mounted radar with the first priority ID fails to access or does not respond for a long time, try to access the vehicle-mounted radar with the second priority ID and continue to access according to this logic until a vehicle-mounted radar that can be successfully accessed appears;

[0044] The vehicle-mounted radar is defined as the master node to participate in bus communication, and other vehicle-mounted radars access the bus through the internal network using the master node.

[0045] Among them, when the main node fails, the control system accesses the bus of the remaining vehicle-mounted radars according to the ID priority, and then other vehicle-mounted radars will replace the original vehicle-mounted radar, that is, redefine the main node, and then ensure the integrity of the communication between the internal network of the vehicle-mounted radar network group and the vehicle body CAN bus.

[0046] At the same time, in order to reduce bus changes and increase stability, after switching the main node, if the vehicle-mounted radar initially defined as the main node is restored, no network node communication changes will be made and the current communication status will be maintained.

[0047] Also preferably, the vehicle-mounted radars in the vehicle-mounted radar network group include one or more of ultrasonic radars, laser radars and millimeter-wave radars.

[0048] The advantage of this embodiment is that the control method controls multiple vehicle-mounted radars through a control system, and switches the main node when the main node fails or cannot respond. This solution can retain the design advantage of the previous single-node access, that is, without increasing the vehicle body bus load, increase the health of the networking solution, ensure that the single point failure of the vehicle-mounted radar will not affect the normal functions of other node devices, thereby improving the operational reliability of the vehicle-mounted radar network group.

[0049] Embodiment 2

[0050] This embodiment provides a vehicle-mounted radar network group control system, which includes a control system and a vehicle-mounted radar network group, wherein the vehicle-mounted radar network group includes multiple vehicle-mounted radars, each vehicle-mounted radar is interconnected through an internal network, and is respectively connected to the vehicle body CAN bus, and is controlled and connected to the control system of the vehicle. Specifically, the control system of this embodiment controls the vehicle-mounted radar network group to perform bus communication through a vehicle-mounted radar network group control method. The method specifically includes:

[0051] One of the vehicle-mounted radars is defined as a master node, and the vehicle-mounted radar network group participates in bus communication through the master node, and the remaining vehicle-mounted radars access the bus through the internal network using the master node;

[0052] When it is detected that the master node is lost and cannot participate in bus communication, the control system sequentially connects other vehicle-mounted radars to the bus communication according to their ID priorities until the connection is successful, and redefines the successfully connected vehicle-mounted radar as the master node;

[0053] After the vehicle is awakened from sleep again, it is re-detected whether the vehicle-mounted radar initially defined as the master node can participate in the bus communication. If so, it is redefined as the master node to participate in the bus communication.

[0054] More specifically, the vehicle-mounted radar network group control method adopts the control method described in Example 1.

[0055] The advantage of this control system is that it can retain the design advantage of the previous single-node access, that is, it increases the robustness of the networking solution without increasing the body bus load. When there is a single node failure, especially a main node failure, the normal operation of the radar network group is guaranteed by switching the main node, ensuring that it will not affect the normal functions of other node devices, thereby improving the operating reliability of the vehicle-mounted radar network group.

[0056] Embodiment 3

[0057] This embodiment provides a car, which includes a vehicle-mounted radar network group control system, wherein the vehicle-mounted radar network group control system includes a plurality of vehicle-mounted radars, each vehicle-mounted radar is interconnected through an internal network, and is respectively connected to the vehicle body CAN bus, and is controlled and connected to the control system of the car. Specifically, the control system of this embodiment controls the vehicle-mounted radar network group to perform bus communication through the vehicle-mounted radar network group control method. The car in this embodiment controls the vehicle-mounted radar network group to perform reliability access to the vehicle body CAN bus through the control system.

[0058] Specifically, the control system in this embodiment adopts the vehicle-mounted radar network group control system in Embodiment 2.

[0059] Embodiment 4

[0060] In this embodiment, a storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the vehicle-mounted radar network group control method in Embodiment 1 is implemented.

[0061] In the description of the present invention, it is necessary to understand that the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0062] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0063] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0064] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0065] In the present invention, unless otherwise clearly specified and limited, a first feature being above or below a second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through another feature between them. Moreover, a first feature being above, above, and above a second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being below, below, and below a second feature includes the first feature being directly below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0066] Although the present invention is described in conjunction with the above specific embodiments, it is obvious that those skilled in the art can make many substitutions, modifications and changes according to the above content. Therefore, all such substitutions, improvements and changes are included in the spirit and scope of the appended claims.

Claims

1. A vehicle-mounted radar network group control method, characterized in that: Applied to a vehicle-mounted radar network group, the vehicle-mounted radar network group includes multiple vehicle-mounted radars, each of the vehicle-mounted radars is interconnected through an internal network, is respectively connected to a vehicle body CAN bus, and is controlled and connected to a control system of the vehicle; the method includes: One of the vehicle-mounted radars is defined as a master node, and the vehicle-mounted radar network group participates in bus communication through the master node, and the remaining vehicle-mounted radars access the bus through the internal network using the master node; When it is detected that the master node is lost and cannot participate in bus communication, the control system sequentially connects other vehicle-mounted radars to the bus communication according to their ID priorities until the connection is successful, and redefines the successfully connected vehicle-mounted radar as the master node; The ID priorities of the other vehicle-mounted radars are used to sequentially connect the other vehicle-mounted radars to the bus communication until the connection is successful, including: According to the ID priority of the vehicle-mounted radar outside the main node, try to access the bus communication one by one; When the vehicle-mounted radar with the first priority ID fails to access or does not respond for a long time, try to access the vehicle-mounted radar with the second priority ID and continue to access according to this logic until a vehicle-mounted radar that can be successfully accessed appears; The vehicle-mounted radar is defined as the master node to participate in bus communication, and other vehicle-mounted radars use the master node to access the bus through the internal network; Among them, after the vehicle-mounted radar initially defined as the main node is restored, the control system does not change the network node communication. The vehicle-mounted radar initially defined as the main node maintains the current communication status until it is awakened from sleep again. The vehicle-mounted radar initially defined as the main node accesses the main node through the vehicle body CAN access point, and wakes up again after the vehicle is turned off and locked.

2. The vehicle-mounted radar network group control method according to claim 1, characterized in that: The ID of the vehicle-mounted radar is obtained when it is connected to the vehicle body CAN. The vehicle-mounted radar is connected to the control system according to the communication ID, and communicates with the main node and performs corresponding analysis.

3. The vehicle-mounted radar network group control method according to claim 1, characterized in that: The method further comprises: After the vehicle is awakened from sleep again, it is re-detected whether the vehicle-mounted radar initially defined as the master node can participate in the bus communication. If so, it is redefined as the master node to participate in the bus communication.

4. The vehicle-mounted radar network group control method according to claim 3, characterized in that: The vehicle is awakened from sleep again by turning off the engine and locking the vehicle.

5. The vehicle-mounted radar network group control method according to claim 1, characterized in that: After switching the master node, if the vehicle-mounted radar initially defined as the master node is restored, the network node communication will not be changed and the current communication status will be maintained.

6. The vehicle-mounted radar network group control method according to claim 1, characterized in that: The vehicle-mounted radars in the vehicle-mounted radar network group include one or more of ultrasonic radars, laser radars and millimeter-wave radars.

7. A vehicle-mounted radar network group control system, characterized in that: It comprises a control system and a vehicle-mounted radar network group, wherein the vehicle-mounted radar network group comprises a plurality of vehicle-mounted radars, each of the vehicle-mounted radars is interconnected via an internal network, and is respectively connected to a vehicle body CAN bus, and is control-connected to a control system of the vehicle; the control system controls the vehicle-mounted radar network group to perform bus communication through the vehicle-mounted radar network group control method according to any one of claims 1 to 6.

8. A car, characterized in that: Including the vehicle-mounted radar network group control system as described in claim 7.

9. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by the processor, the vehicle-mounted radar network group control method according to any one of claims 1 to 6 is implemented.

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