Interactive control device, equipment and medium based on vehicle redundant reliable system

Abstract

This invention discloses an interactive control device, equipment, and medium based on a vehicle redundant reliable system, comprising: a low-level device interaction module for connecting several low-level devices and performing hardware-level resource interaction; an external input interaction module for connecting several redundant external devices and receiving arbitration information from the redundant external devices; a diagnostic interaction module for receiving abnormal information sent by the vehicle redundant reliable system and sending a freeze frame to the corresponding diagnostic module based on the abnormal information; and an output control interaction module for performing safety control on the vehicle based on vehicle control information calculated by the vehicle redundant reliable system when a vehicle abnormality is diagnosed. This invention can solve the problems of poor reliability and low fault tolerance in the interaction between the vehicle redundant reliable system and external modules, improve the reliability of the interaction between the vehicle redundant reliable system and external modules, and avoid affecting the safety of vehicle operation.

Description

Technical Field

[0001] This invention relates to the field of automotive electronic control technology, and in particular to an interactive control device, equipment and medium based on a redundant and reliable automotive system. Background Technology

[0002] Vehicle driving control systems play a decisive role in ensuring vehicle driving safety and reliability. In particular, key control systems, including intelligent driving systems, must consider redundant control to ensure that redundant control systems take effect in the event of a failure of a single control system, thereby protecting the safety of the vehicle and its occupants.

[0003] However, during the research and practice of existing technologies, the inventors of this invention discovered that existing technologies have shortcomings in the interactive control of vehicle redundancy systems, including poor reliability and low fault tolerance during interaction with external modules. This affects the reliable interaction between the vehicle redundancy reliable system and different external modules, and may even further affect vehicle driving safety. Therefore, there is an urgent need for an interactive control device based on vehicle redundancy reliable systems that can overcome the above-mentioned technical defects. Summary of the Invention

[0004] The technical problem to be solved by the embodiments of the present invention is to provide an interactive control device, equipment and medium based on a vehicle redundant and reliable system, which can solve the problems of poor reliability and low fault tolerance in the interaction process between the vehicle redundant and reliable system and external modules in the prior art.

[0005] To address the aforementioned problems, a first aspect of this application provides an interactive control device based on a vehicle redundant and reliable system, comprising:

[0006] The underlying device interaction module is used to connect several underlying devices and perform hardware-level resource interaction;

[0007] An external input interaction module is used to connect to several redundant external devices and receive arbitration information from the redundant external devices to complete the input from the external devices.

[0008] The diagnostic interaction module is used to receive abnormal information sent by the vehicle redundant reliability system, and send a freeze frame to the corresponding diagnostic module according to the abnormal information.

[0009] The output control interaction module is used to perform safety control on the vehicle based on the vehicle control information calculated by the vehicle redundant reliability system when a vehicle abnormality is diagnosed.

[0010] Optionally, the interactive control device based on the vehicle redundant and reliable system further includes:

[0011] The operation scheduling interaction module is used to receive scheduling information sent to the vehicle redundant reliability system by the operation scheduling module, and to monitor the monitoring nodes.

[0012] Optionally, the interactive control device based on the vehicle redundant and reliable system further includes:

[0013] The management plane interaction module is used to receive the registration and deregistration information of the running nodes obtained by the vehicle redundancy and reliability system from the management plane, so that the vehicle redundancy and reliability system can monitor and exit the monitoring of the nodes based on the registration and deregistration information.

[0014] Optionally, the interactive control device based on the vehicle redundant and reliable system further includes:

[0015] The network management interaction module is used to acquire node communication information when the network node status changes and send it to the vehicle redundancy and reliability system so that the vehicle redundancy and reliability system can switch operating modes according to the node communication information.

[0016] Optionally, the interactive control device based on the vehicle redundant and reliable system further includes:

[0017] The human-machine interface interaction module is used to display the current operating status of the vehicle redundant reliability system through the human-machine interface, and to display abnormal information and the cause of the abnormality.

[0018] Optionally, the interactive control device based on the vehicle redundant and reliable system further includes:

[0019] The application software interaction module is used to control the vehicle redundant and reliable system to monitor the application nodes based on the registration information of the application nodes sent by the management plane.

[0020] Optionally, the interactive control device based on the vehicle redundant and reliable system further includes:

[0021] The configuration tool interaction module is used to obtain configuration information from the configuration file generated by the configuration tool, so that the vehicle redundancy and reliability module can complete the monitoring function settings of monitoring options, monitoring node range and abnormal situation handling methods according to the configuration information.

[0022] Optionally, the interactive control device based on the vehicle redundant and reliable system further includes:

[0023] An external redundant reliable system interaction module is used to exchange information with another pre-deployed vehicle redundant reliable system.

[0024] A second aspect of this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the interactive control device based on a vehicle redundant and reliable system as described above.

[0025] A third aspect of this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the interactive control device based on a vehicle redundant and reliable system as described in any of the preceding claims.

[0026] Implementing the embodiments of the present invention has the following beneficial effects:

[0027] This invention provides an interactive control device, equipment, and medium based on a vehicle redundant reliable system. The device includes: a low-level device interaction module for connecting several low-level devices and performing hardware-level resource interaction; an external input interaction module for connecting several redundant external devices and receiving arbitration information from these redundant external devices; a diagnostic interaction module for receiving abnormal information sent by the vehicle redundant reliable system and sending a freeze frame to the corresponding diagnostic module based on the abnormal information; and an output control interaction module for performing safety control on the vehicle based on vehicle control information calculated by the vehicle redundant reliable system when a vehicle abnormality is diagnosed. This invention can solve the problems of poor reliability and low fault tolerance in the interaction between the vehicle redundant reliable system and external modules, improve the reliability of the interaction between the vehicle redundant reliable system and external modules, and avoid affecting the safety of vehicle operation. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of an interactive control device based on a vehicle redundant and reliable system according to an embodiment of this application;

[0029] Figure 2 This is a schematic block diagram of the structure of a computer device according to an embodiment of this application.

[0030] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0031] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0032] In the description of this application, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0033] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0034] In the following description, the use of suffixes such as "module," "part," or "unit" to denote elements is solely for the purpose of illustrative purposes and has no specific meaning in itself. Therefore, "module," "part," or "unit" may be used interchangeably.

[0035] First, we introduce the application scenarios that this invention can provide, such as providing an interactive control device, equipment, and medium based on a vehicle redundant and reliable system, which can realize reliable interaction between the vehicle redundant and reliable system and different external modules, thereby improving vehicle driving safety.

[0036] First embodiment of the present invention:

[0037] Please see Figure 1 .

[0038] like Figure 1 As shown, this embodiment provides an interactive control device based on a vehicle redundant and reliable system, including:

[0039] The underlying device interaction module 100 is used to connect several underlying devices and perform hardware-level resource interaction;

[0040] The external input interaction module 200 is used to connect to a number of redundant external devices and receive arbitration information from the redundant external devices to complete the input from the external devices.

[0041] The diagnostic interaction module 300 is used to receive abnormal information sent by the vehicle redundant reliability system, and send a freeze frame to the corresponding diagnostic module according to the abnormal information.

[0042] The output control interaction module 400 is used to perform safety control on the vehicle based on the vehicle control information calculated by the vehicle redundant reliability system when a vehicle abnormality is diagnosed.

[0043] In existing technologies, the interactive control of vehicle redundancy systems suffers from poor reliability and low fault tolerance during interaction with external modules, affecting the reliable interaction between the vehicle redundancy system and different external modules, and even further impacting vehicle driving safety. This embodiment improves the reliability of interaction and enhances vehicle driving safety by controlling the interaction between the vehicle redundancy system and various external modules.

[0044] Specifically, for the underlying device interaction module 100, the underlying device provides hardware and related resources to meet the system-level tolerance and reliability requirements, such as the multi-core and lockstep functionality of the MCU. The automotive redundant and reliable system utilizes these underlying resources to achieve hardware-level redundant and reliable functions.

[0045] For the external input interaction module 200, in the case of multiple external devices connected, redundancy is formed among the connected devices based on their types and characteristics. For example, when different types of sensors identify the same type of object, if some sensors malfunction or fail, the remaining sensors are used to complete the object identification (the identification effect will be reduced, and a backup scheme is implemented). The redundant and reliable system utilizes the characteristics of these sensors to arbitrate the input from external devices, realizing the function of redundant and reliable input information.

[0046] For the diagnostic interaction module 300, when the redundant and reliable system obtains abnormal information, it sends a freeze frame to the diagnostic module.

[0047] For the output control interaction module 400, the redundant and reliable system can achieve redundant outputs to ensure safe control and handling of the vehicle in abnormal situations. In abnormal situations, the redundant and reliable system configures CAN message output to control the YRS, TCU, EPS, etc., to immediately stop the vehicle. In addition to serving as the real-time domain, the MCU domain in the redundant and reliable system also assumes the functions of the safety domain, so it must have sufficient capability to run the minimum control algorithm. This algorithm is used to promptly take over vehicle control when a problem occurs in a critical part of the SOC domain, enabling the vehicle to stop safely.

[0048] Optionally, the interactive control device based on the vehicle redundant and reliable system further includes:

[0049] The operation scheduling interaction module is used to receive scheduling information sent to the vehicle redundant reliability system by the operation scheduling module, and to monitor the monitoring nodes.

[0050] Specifically, for the operation scheduling interaction module, the operation scheduling module provides the redundant and reliable system with information such as the start-up and exit of nodes, so that the monitoring nodes can be monitored.

[0051] Optionally, the interactive control device based on the vehicle redundant and reliable system further includes:

[0052] The management plane interaction module is used to receive the registration and deregistration information of the running nodes obtained by the vehicle redundancy and reliability system from the management plane, so that the vehicle redundancy and reliability system can monitor and exit the monitoring of the nodes based on the registration and deregistration information.

[0053] Specifically, for the management plane interaction module, the management plane dynamically accepts registrations and deregistrations of peripherals or internal tasks during system startup and operation. The redundant and reliable system obtains the registration and deregistration information of running nodes from the management plane through proactive querying. When a registered node is configured in the configuration file, the redundant and reliable system begins monitoring this node and exits monitoring after obtaining the deregistration information of this node.

[0054] Optionally, the interactive control device based on the vehicle redundant and reliable system further includes:

[0055] The network management interaction module is used to acquire node communication information when the network node status changes and send it to the vehicle redundancy and reliability system so that the vehicle redundancy and reliability system can switch operating modes according to the node communication information.

[0056] Specifically, for the network management interaction module, when the status of a node on the network changes, the management sends node communication-related information to the redundant and reliable system, so that the redundant and reliable system can switch operating modes based on this information.

[0057] Optionally, the interactive control device based on the vehicle redundant and reliable system further includes:

[0058] The human-machine interface interaction module is used to display the current operating status of the vehicle redundant reliability system through the human-machine interface, and to display abnormal information and the cause of the abnormality.

[0059] Specifically, for the human-machine interface interaction module, the redundant and reliable system displays the current operating status through the HMI, and displays abnormal information and causes through the HMI in abnormal situations.

[0060] Optionally, the interactive control device based on the vehicle redundant and reliable system further includes:

[0061] The application software interaction module is used to control the vehicle redundant and reliable system to monitor the application nodes based on the registration information of the application nodes sent by the management plane.

[0062] Specifically, for the application software interaction module, once the application node successfully registers with the management plane and is in the configuration options, the redundant and reliable system begins monitoring the application node based on the information sent by the management plane.

[0063] Optionally, the interactive control device based on the vehicle redundant and reliable system further includes:

[0064] The configuration tool interaction module is used to obtain configuration information from the configuration file generated by the configuration tool, so that the vehicle redundancy and reliability module can complete the monitoring function settings of monitoring options, monitoring node range and abnormal situation handling methods according to the configuration information.

[0065] Specifically, for the configuration tool interaction module, the configuration tool provides the configuration options required for the operation and monitoring of the redundant and reliable system. The configuration tool generates a configuration file based on the configuration content, which the redundant and reliable system then uses to configure the monitoring functions, such as monitoring options, monitoring node range, and handling methods in abnormal situations.

[0066] The vehicle-mounted redundant and reliable system processes configuration files in the following ways: correctly setting the corresponding exception confirmation logic and processing actions for redundancy and reliability according to the configuration options in the manifest configuration file; determining whether each parameter in the manifest configuration file is correct; limiting the monitoring and processing scope according to the configuration in the manifest configuration file; and determining whether the configuration options in the manifest configuration file can be implemented at present.

[0067] Optionally, the interactive control device based on the vehicle redundant and reliable system further includes:

[0068] An external redundant reliable system interaction module is used to exchange information with another pre-deployed vehicle redundant reliable system.

[0069] Specifically, for the external redundant reliable system interaction module, the redundant reliable system can be deployed and run on the SOC or MCU side. When both ends are running redundant reliable systems, the current system can exchange information with the other end system.

[0070] This embodiment provides an interactive control device based on a vehicle redundant reliable system. The device includes: a low-level device interaction module for connecting several low-level devices and performing hardware-level resource interaction; an external input interaction module for connecting several redundant external devices and receiving arbitration information from these redundant external devices; a diagnostic interaction module for receiving abnormal information sent by the vehicle redundant reliable system and sending a freeze frame to the corresponding diagnostic module based on the abnormal information; and an output control interaction module for performing safety control on the vehicle based on vehicle control information calculated by the vehicle redundant reliable system when a vehicle abnormality is diagnosed. This embodiment proposes an interactive control device based on a vehicle redundant reliable system, which better realizes the interaction between the vehicle redundant reliable system and different external modules. It can solve the problems of poor reliability and low fault tolerance in the interaction between the vehicle redundant reliable system and external modules, improve the reliability of the interaction between the vehicle redundant reliable system and external modules, and avoid affecting the safety of vehicle operation.

[0071] Reference Figure 2 This application also provides a computer device, which may be a server, and its internal structure may be as follows: Figure 2 As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores data such as data from an interactive control device based on a vehicle-grade redundant and reliable system. The network interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements an interactive control device based on a vehicle-grade redundant and reliable system. The interactive control device based on the vehicle redundancy and reliability system includes: a low-level device interaction module for connecting several low-level devices and performing hardware-level resource interaction; an external input interaction module for connecting several redundant external devices and receiving arbitration information from these redundant external devices; a diagnostic interaction module for receiving abnormal information sent by the vehicle redundancy and reliability system and sending a freeze frame to the corresponding diagnostic module based on the abnormal information; and an output control interaction module for performing safety control on the vehicle based on vehicle control information calculated by the vehicle redundancy and reliability system when a vehicle abnormality is diagnosed.

[0072] One embodiment of this application also provides a computer-readable storage medium storing a computer program thereon. When the computer program is executed by a processor, it implements an interactive control device based on a vehicle redundancy and reliability system, comprising: a low-level device interaction module for connecting a plurality of low-level devices and performing hardware-level resource interaction; an external input interaction module for accessing a plurality of mutually redundant external devices and receiving arbitration information from the mutually redundant external devices to complete the external device input; a diagnostic interaction module for receiving abnormal information sent by the vehicle redundancy and reliability system and sending a freeze frame to the corresponding diagnostic module according to the abnormal information; and an output control interaction module for performing safety control on the vehicle according to the vehicle control information calculated by the vehicle redundancy and reliability system when a vehicle abnormality is diagnosed.

[0073] The aforementioned interactive control device based on a vehicle redundant reliable system, by proposing an interactive control device based on a vehicle redundant reliable system, better realizes the interaction between the vehicle redundant reliable system and different external modules, can solve the problems of poor reliability and low fault tolerance in the interaction process between the vehicle redundant reliable system and external modules, improve the reliability of the interaction between the vehicle redundant reliable system and external modules, and avoid affecting the safety of vehicle driving.

[0074] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0075] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of modules can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple modules or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be indirect couplings or communication connections through some interfaces, units, or modules, and may be electrical or other forms.

[0076] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0077] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0078] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

[0079] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above-described apparatus. Any references to memory, storage, databases, or other media provided in this application and in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual-rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0080] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. An interactive control device based on a vehicle redundant and reliable system, characterized in that, At least including: The configuration tool interaction module is used to obtain configuration information from the configuration file generated by the configuration tool, so that the vehicle redundant reliability system can complete the monitoring function settings of monitoring options, monitoring node range and abnormal situation handling methods according to the configuration information; The management plane interaction module is used to receive the registration and deregistration information of the running nodes obtained by the vehicle redundancy and reliability system from the management plane, so that the vehicle redundancy and reliability system can monitor and exit the monitoring of the nodes according to the registration and deregistration information; The underlying device interaction module is used to connect several underlying devices and perform hardware layer resource interaction; the underlying devices provide hardware resources to meet the system-level tolerance reliability function, and the vehicle redundant reliability system uses the underlying resources to realize the hardware layer redundancy reliability function. An external input interaction module is used to connect to several redundant external devices and receive arbitration information from the redundant external devices to complete the input from the external devices. The diagnostic interaction module is used to receive abnormal information sent by the vehicle redundant reliability system, and send a freeze frame to the corresponding diagnostic module according to the abnormal information. The output control interaction module is used to perform safety control on the vehicle based on the vehicle control information calculated by the vehicle redundant and reliable system when a vehicle abnormality is diagnosed. Specifically, the output control interaction module is used to: when a problem occurs in a critical part of the SOC domain, the MCU domain, which undertakes the safety domain function, runs a minimum control algorithm to take over the vehicle control in a timely manner, so that the vehicle can be safely stopped, and control the YRS, TCU, and EPS to stop the vehicle immediately through the output of CAN messages with redundant and reliable configuration. In abnormal situations, redundant and reliable CAN message output is configured to enable the vehicle to stop immediately; The human-machine interface interaction module is used to display the current operating status of the vehicle redundant reliability system through the human-machine interface, and to display abnormal information and the cause of the abnormality.

2. The interactive control device based on a vehicle redundant and reliable system according to claim 1, characterized in that, Also includes: The operation scheduling interaction module is used to receive scheduling information sent to the vehicle redundant reliability system by the operation scheduling module, and to monitor the monitoring nodes.

3. The interactive control device based on a vehicle redundant and reliable system according to claim 1, characterized in that, Also includes: The network management interaction module is used to acquire node communication information when the network node status changes and send it to the vehicle redundancy and reliability system so that the vehicle redundancy and reliability system can switch operating modes according to the node communication information.

4. The interactive control device based on a vehicle redundant and reliable system according to claim 1, characterized in that, Also includes: The application software interaction module is used to control the vehicle redundant and reliable system to monitor the application nodes based on the registration information of the application nodes sent by the management plane.

5. The interactive control device based on a vehicle redundant and reliable system according to claim 1, characterized in that, Also includes: An external redundant reliable system interaction module is used to exchange information with another pre-deployed vehicle redundant reliable system.

6. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the interactive control device based on the vehicle redundant and reliable system as described in any one of claims 1 to 5.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the interactive control device based on the vehicle redundant and reliable system as described in any one of claims 1 to 5.

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