Vehicle-mounted controller, vehicle control method, vehicle, and chip

Abstract

The present disclosure relates to a vehicle-mounted controller, a vehicle control method, a vehicle and a chip, and relates to the technical field of vehicles. The vehicle-mounted controller comprises a navigation module, a first processing module and a second processing module. The navigation module is configured to receive navigation data, parse the navigation data into a first message, and transmit the first message to the first processing module through a pulse generator. The first processing module is configured to receive the first message, and send the first message to the second processing module through an Ethernet. The first message carries a priority label, and the Ethernet sends the first message to the second processing module in priority according to the priority label. The second processing module is configured to fuse the first message, inertial measurement data and vehicle speed data. The vehicle-mounted controller provided by the present disclosure can reduce the transmission delay between the navigation module and the second processing module.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of vehicles, and particularly relates to a vehicle-mounted controller, a vehicle control method, a vehicle and a chip. BACKGROUND

[0002] With the development of transportation tools, car navigation has become an indispensable tool in people's daily travel. Car navigation is used for positioning monitoring and navigation of a car to assist users in selecting a travel route.

[0003] In the related art, car navigation can fuse navigation data, inertial measurement data and vehicle speed data to obtain accurate positioning data of a vehicle. However, an additional navigation module needs to be added to the vehicle to obtain the navigation data, and then the data fusion is realized. The additional navigation module undoubtedly increases the development cost of the vehicle. SUMMARY

[0004] To overcome the problems in the related art, the present disclosure provides a vehicle-mounted controller, a vehicle control method, a vehicle and a chip.

[0005] According to a first aspect of an embodiment of the present disclosure, a vehicle-mounted controller is provided, and the vehicle-mounted controller comprises:

[0006] a navigation module, a first processing module connected to the navigation module through a pulse generator, a second processing module connected to the first processing module, and an inertial measurement module and a control module connected to the second processing module;

[0007] The navigation module is configured to receive navigation data and parse the navigation data into a first message, and transmit the first message to the first processing module through the pulse generator.

[0008] The first processing module is configured to receive the first message and send the first message to the second processing module through an Ethernet; the first message carries a priority label, and the Ethernet sends the first message to the second processing module in priority according to the priority label.

[0009] The second processing module is configured to receive the first message, inertial measurement data sent by the inertial measurement module and vehicle speed data sent by the control module, and fuse the first message, the inertial measurement data and the vehicle speed data.

[0010] Optionally, the navigation module is configured to pull up a level of the pulse generator when sending the first message to the first processing module, the first message has a first standard time of sending the first message by the navigation module, and the first standard time is an absolute time of sending the first message by the navigation module.

[0011] The first processing module is configured to parse the first message, obtain a first standard time at which the navigation module sends the first message, and record a first time at which the level of the pulse generator is pulled high and a second time at which the first message is received, and obtain a second standard time at which the first processing module receives the first message according to the standard time, the first time and the second time, the second standard time being an absolute time at which the first processing module receives the first message.

[0012] Optionally, the first processing module and the second processing module transmit a second message.

[0013] The second processing module is configured to correct a time at which the second processing module receives the first message according to the second message, so that the time between the first processing module and the second processing module is kept synchronized.

[0014] Optionally, the second message carries a third time, a fourth time, a fifth time and a sixth time.

[0015] The first processing module is configured to send a synchronization command and a tracking command to the second processing module, the tracking command having the third time at which the first processing module sends the synchronization command.

[0016] The second processing module is configured to receive the synchronization command and the tracking command at the fourth time, parse the tracking command to obtain the third time, and send a delay request command to the first processing module at the fifth time.

[0017] The first processing module is configured to receive the delay request command at the sixth time, and send a delay response command to the second processing module, the delay response command carrying the sixth time.

[0018] The second processing module is configured to parse the received delay response command to obtain the sixth time, and obtain a time deviation between the second processing module and the first processing module according to the third time, the fourth time, the fifth time and the sixth time, and correct the time at which the second processing module receives the first message according to the time deviation.

[0019] Optionally, the second processing module is configured to correct the time at which the second processing module receives the first message according to the second standard time at which the first processing module receives the first message and the time deviation, to obtain a third standard time at which the second processing module receives the first message.

[0020] Optionally, the navigation module is configured to receive the navigation data through a vehicle antenna.

[0021] Optionally, the first processing module is connected with a positioning engine in the second processing module.

[0022] According to a second aspect of the embodiments of the present disclosure, a vehicle control method is provided, which is applied to the vehicle-mounted controller provided in the first aspect of the embodiments of the present disclosure, and the method comprises:

[0023] The navigation module receives navigation data and parses the navigation data into a first message, and the first message is transmitted to the first processing module through the pulse generator;

[0024] The first processing module receives the first message and sends the first message to the second processing module through Ethernet, and the first message carries a priority label, and the Ethernet sends the first message to the second processing module in priority according to the priority label;

[0025] The second processing module receives the first message, inertial measurement data sent by the inertial measurement module, and vehicle speed data sent by the control module, and fuses the first message, the inertial measurement data, and the vehicle speed data.

[0026] Optionally, the transmitting the first message to the first processing module through the pulse generator comprises:

[0027] In the case that the navigation module sends the first message to the first processing module, the level of the pulse generator is pulled up, the first message has a first standard time of sending the first message by the navigation module, and the first standard time is an absolute time of sending the first message by the navigation module;

[0028] The first processing module parses the first message to obtain the first standard time of sending the first message by the navigation module, and records a first time when the level of the pulse generator is pulled up and a second time when the first message is received;

[0029] The first processing module obtains a second standard time of receiving the first message by the first processing module according to the standard time, the first time, and the second time, and the second standard time is an absolute time of receiving the first message by the first processing module.

[0030] According to a third aspect of the embodiments of the present disclosure, a vehicle is provided, which comprises the vehicle-mounted controller provided in the first aspect of the present disclosure.

[0031] According to a fourth aspect of the embodiments of the present disclosure, a chip is provided, comprising a processor and an interface; the processor is configured to read instructions to execute the vehicle control method provided in the second aspect of the present disclosure.

[0032] The technical solutions provided by the embodiments of the present disclosure can have the following beneficial effects:

[0033] Firstly, the present disclosure proposes to reuse the navigation module in the vehicle-mounted wireless terminal of the vehicle, without additionally adding a navigation module to the vehicle, thereby reducing the vehicle production cost caused by the additional navigation module.

[0034] Secondly, the present disclosure proposes to use a pulse generator to connect the navigation module and the first processing module. Since the pulse generator works with the navigation module and the first processing module, the time between the navigation module and the first processing module can be synchronized, thereby reducing the data transmission delay between the navigation module and the first processing module. It is further proposed that between the first processing module and the second processing module, the priority label of the first message is identified through Ethernet, so that the first message is transmitted in priority according to the priority label, thereby further reducing the transmission delay of the first message between the first processing module and the second processing module.

[0035] After the data delay between the navigation module and the first processing module, and the data delay between the first processing module and the second processing module are reduced, the data delay from the navigation module to the second processing module is greatly reduced, thereby reducing the data transmission delay caused by reusing the navigation module in the vehicle-mounted wireless terminal. After the data transmission delay is reduced, the time of the first message, the inertial measurement data and the vehicle speed data received by the second processing module is aligned, avoiding the inaccurate positioning data caused by the misalignment of the three.

[0036] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0037] The accompanying drawings, which are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure and, together with the specification, serve to explain the principles of the present disclosure.

[0038] Figure 1 is a block diagram of a vehicle-mounted controller according to an exemplary embodiment.

[0039] Figure 2 is a block diagram of a vehicle-mounted wireless terminal according to an exemplary embodiment.

[0040] Figure 3 is a block diagram of an intelligent cockpit according to an exemplary embodiment.

[0041] Figure 4 is a schematic diagram of time synchronization between a navigation module and a first processing module according to an example embodiment.

[0042] Figure 5 is a schematic diagram of time synchronization between a first processing module and a second processing module according to an example embodiment.

[0043] Figure 6 is a flowchart of steps of a vehicle control method according to an example embodiment.

[0044] Figure 7 is a functional block diagram of a vehicle according to an example embodiment.

[0045] Figure 8 is a block diagram of an apparatus for vehicle control according to an example embodiment. DETAILED DESCRIPTION

[0046] The example embodiments will be described in detail herein with reference to the attached drawings. In the following description, the same numbers are used to represent the same elements in different drawings. The following description is not meant to represent all embodiments in accordance with the present disclosure. Rather, it is merely an example embodiment in accordance with some aspects of the present disclosure as detailed in the appended claims.

[0047] Figure 1 is a structural block diagram of a vehicle controller according to an example embodiment, as Figure 1 shown, the vehicle controller specifically includes the following modules:

[0048] a navigation module, a first processing module connected to the navigation module through a pulse generator, a second processing module connected to the first processing module, and an inertial measurement module and a control module connected to the second processing module.

[0049] The navigation module is configured to receive navigation data and parse the navigation data into a first message, and transmit the first message to the first processing module through the pulse generator. The navigation module is a navigation module in a multiplexed vehicle wireless terminal.

[0050] Specifically, an input end of the navigation module (GNSS module, Global Navigation Satellite System) is connected to a vehicle antenna, and receives navigation data through the vehicle antenna. An output end of the navigation module is connected to the first processing module, and is configured to convert the received navigation data into a first message and send the first message to the first processing module.

[0051] The content in the first message is the same as the content in the navigation data, and is used to represent the current position of the vehicle. In order to ensure that the navigation data can be transmitted in the Ethernet, the data format of the navigation data can be converted into a data format supported by the Ethernet. The first message is the navigation data supported by the Ethernet for transmission. The first message can be a NEMA0183 message, and the message content includes: positioning information of the current vehicle (GPGGA, main data of GPS positioning), current positioning information (GPGSA, statement format of GPS output), visible positioning information (GPGSV, visible satellite state output statement), ground speed information (GPVTG, ground speed), and recommended positioning information (GPRMC, GPS recommended minimum data) data format. GPS is Global Positioning System.

[0052] The pulse generator can be a 1PPS hard line (1 Pulse Per Second), connected between the navigation module and the first processing module, for pulling up the level of itself at the same time as the navigation module sends the first message to the first processing module, to send a pulse signal to the first processing module, so that the first processing module records the time of receiving the pulse signal, to correct the time of receiving the first message by itself, to synchronize the time between the navigation module and the first processing module.

[0053] The first processing module is configured to receive the first message and send the first message to the second processing module through the Ethernet. The first message carries a priority label, and the Ethernet sends the first message to the second processing module in priority according to the priority label.

[0054] Specifically, the first processing module (Microprocessor Unit, MPU) is a microcontroller located in the vehicle-mounted wireless terminal, and the second processing module (Microprocessor Unit, MPU) is a microcontroller located in the intelligent cockpit. The first processing module and the second processing module transmit data through the Ethernet. When the first message is transmitted in the Ethernet, it carries a priority label. The Ethernet recognizes the priority label and preferentially transmits the first message from the first processing module to the second processing module.

[0055] For example, the first message is provided with a priority label 7, and the rest of the messages are provided with a priority label 6. The greater the value of the priority label, the higher the priority of transmission. When the Ethernet receives multiple messages, it will recognize the priority label carried by the message and preferentially transmit the message with the highest priority.

[0056] The second processing module is configured to receive the first message, inertial measurement data sent by the inertial measurement module, and vehicle speed data sent by the control module, and fuse the first message, the inertial measurement data, and the vehicle speed data.

[0057] Specifically, the inertial measurement module (IMU) is an inertial navigation sensor arranged in the intelligent cockpit and configured to measure three-axis attitude angles and acceleration of the vehicle and other inertial measurement data; the control module (MCU) is a microcontroller unit arranged in the intelligent cockpit, and an input end of the control module is connected with the transceiver and configured to receive vehicle speed data from a vehicle CAN (Controller Area Network) network through the transceiver.

[0058] The positioning engine in the second processing module of the intelligent cockpit acquires inertial measurement data through the inertial measurement module, acquires vehicle speed data through the control module, acquires navigation data through the first processing module and the navigation module, and fuses the navigation data, the inertial measurement data, and the vehicle speed data through the positioning engine to obtain positioning information of the vehicle.

[0059] In the related art, as shown in Figure 2 , the vehicle-mounted wireless terminal has a navigation module and a processor, the navigation module and the processor in the vehicle-mounted wireless terminal are connected with each other, and a positioning engine in the processor of the vehicle-mounted wireless terminal receives navigation data collected by the navigation module to acquire a satellite position of the vehicle in real time; as shown in Figure 3 , the intelligent cockpit also has a navigation module and a processor, the navigation module and the processor in the intelligent cockpit are connected with each other, and a positioning engine in the processor of the intelligent cockpit receives navigation data collected by the navigation module to navigate the vehicle.

[0060] It can be seen that the vehicle in the related art is provided with a navigation module, but the navigation module is not used to fuse inertial measurement data and vehicle speed data to realize SD (Secure Digital Memory Card) navigation of the vehicle. If the SD navigation of the vehicle is realized, the navigation module needs to be additionally added to additionally acquire navigation data to fuse with the inertial measurement data and the vehicle speed data, which undoubtedly increases the development cost of the vehicle.

[0061] Therefore, in order to reduce the development cost of the vehicle, as shown in Figure 1As shown, the navigation module in the vehicle-mounted wireless terminal is multiplexed, the navigation module is connected with the first processor, the first processor in the vehicle-mounted wireless terminal is connected with the second processor in the intelligent cockpit, and specifically, the first processor is connected with the positioning engine in the second processor, so that the positioning engine in the second processor can receive the navigation data collected by the navigation module in the vehicle-mounted wireless terminal, and the navigation data is fused with the inertial measurement data and the vehicle speed data to realize the SD navigation of the vehicle.

[0062] However, please refer to Figure 1 As shown, after the navigation module is multiplexed, data transmission between the navigation module and the positioning engine in the second processing module needs to be realized through the first processing module, the Ethernet and the second processing module, so that the navigation module and the second processing module have a data transmission delay.

[0063] In order to reduce the data transmission delay between the navigation module and the positioning engine in the second processing module, the present disclosure proposes to use a pulse generator to connect the navigation module and the first processing module first. Since the pulse generator works with the navigation module and the first processing module, the time between the navigation module and the first processing module can be synchronized, so the data transmission delay between the navigation module and the first processing module is reduced. Then, it is proposed that the priority label of the first message is identified through the Ethernet between the first processing module and the second processing module, so that the first message is sent in priority according to the priority label, so as to further reduce the transmission delay of the first message between the first processing module and the second processing module.

[0064] After the data delay between the navigation module and the first processing module and the data delay between the first processing module and the second processing module are reduced, the data delay from the navigation module to the positioning engine in the second processing module is greatly reduced. After the data transmission delay is reduced, the time of the first message, the inertial measurement data and the vehicle speed data received by the second processing module is aligned, avoiding the inaccurate positioning data after fusion caused by the misalignment of the three.

[0065] The reason that the time asynchronization between the navigation module and the first processing module causes the data transmission delay is that, taking the time of the navigation module and the first processing module at the same moment as 1:00 and 1:02 respectively, it can be seen that the time of the navigation module and the first processing module at the same moment is not synchronized, at this time, if the navigation module sends the first message at 1:00, after 1S of data transmission, if the first processing module is synchronized with the navigation module in time, the first processing module should receive the first message at 1:01, and since the time of the first processing module is 1:02, which is not synchronized with the time of the navigation module, the first processing module will receive the first message at 1:03, which is delayed by 2S compared with the time of receiving the first message at 1:01 in the synchronized state. It can be seen that the time asynchronization between the two will cause the data transmission delay.

[0066] The reason that the time asynchronization between the navigation module and the first processing module causes the data transmission delay is that, taking the time of the navigation module and the first processing module at the same moment as 1:00 and 1:02 respectively, it can be seen that the time of the navigation module and the first processing module at the same moment is not synchronized, at this time, if the navigation module sends the first message at 1:00, after 1S of data transmission, if the first processing module is synchronized with the navigation module in time, the first processing module should receive the first message at 1:01, and since the time of the first processing module is 1:02, which is not synchronized with the time of the navigation module, the first processing module will receive the first message at 1:03, which is delayed by 2S compared with the time of receiving the first message at 1:01 in the synchronized state. It can be seen that the time asynchronization between the two will cause the data transmission delay.

[0067] The SD navigation of the automobile is provided with the Beidou satellite navigation or GPS global satellite navigation system function, so that the driver can know the specific position at any time during driving. The automobile navigation generally has the functions of automatic voice navigation and best path search, which can ensure easy driving of the driver.

[0068] In a possible implementation, the pulse generator, the navigation module and the first processing module can work cooperatively in the following manner, so that the time of the navigation module and the first processing module is synchronized:

[0069] The navigation module is configured to pull up the level of the pulse generator when sending the first message to the first processing module, the first message having a first standard time of sending the first message by the navigation module, the first standard time being the absolute time of sending the first message by the navigation module.

[0070] The first processing module is configured to parse the first message, obtain a first standard time at which the navigation module sends the first message, record a first time at which the level of the pulse generator is pulled high and a second time at which the first message is received, and obtain a second standard time at which the first processing module receives the first message according to the standard time, the first time and the second time.

[0071] Specifically, referring to FIG. 1, Figure 4 As shown in FIG. 1, the navigation module pulls high the level of the pulse generator at the first time T1 when sending the first message to the first processing module, so that the pulse generator outputs a pulse signal to the first processing module at the first time T1. Since the frequency of the pulse signal output by the pulse generator can be accurate to 1S, the first processing module can receive the pulse signal at an interval of 1S from the first time. Since 1S is negligible, the first processing module can be considered to receive the pulse signal at the first time T1 when the level of the pulse generator is pulled high. The first processing module records the first time T1, and then receives the first message at the second time T2. The first message carries the first standard time T01 at which the navigation module sends the first message.

[0072] After the first processing module determines the first time, the second time and the first standard time, the second standard time is obtained according to the following formula:

[0073] T02=T01+(T2-T1) (1)

[0074] In formula (1), T1 is the first time at which the navigation module sends the first message; T2 is the second time at which the first processing module receives the first message; T01 is the first standard time at which the navigation module sends the first message, and T02 is the second standard time at which the first processing module receives the first message.

[0075] The first time is different from the first standard time. The first standard time is the absolute time (UTC, universal time coordinated) at which the navigation module sends the first message, which is accurate. The first time is the time recorded by the clock of the navigation module when the navigation module sends the first message. The second time is different from the second standard time. The second standard time is the absolute time at which the first processing module receives the first message, which is accurate. The second time is the time recorded by the clock of the first processing module when the first processing module receives the first message.

[0076] It can be seen that, according to the formula (1), the time Δt consumed by the navigation module in transmitting the first message to the first processing module can be calculated first, and then the second standard time at which the first processing module receives the first message can be obtained by adding the time Δt consumed by the first message in transmission to the first standard time at which the navigation module sends the first message.

[0077] Since the first standard time and the second standard time are both absolute time and accurate universal time, the time between the navigation module and the first processing module is synchronized, and the data delay caused by the time asynchronization between the navigation module and the first processing module is reduced.

[0078] In a possible implementation, in order to reduce the data transmission delay between the first processing module in the vehicle-mounted wireless terminal and the second processing module in the intelligent cockpit, the following two aspects can be improved:

[0079] Firstly, the first message transmitted between the first processing module and the second processing module carries a priority label, and the Ethernet can identify the priority label in the first message, so as to transmit the first message preferentially according to the priority label.

[0080] Specifically, the PCP (Priority Code Point) of the first message Ethernet frame can be set to 7, and in the case that the value of the priority label is 7, it indicates that the Ethernet will transmit the first message with the highest priority when multiple messages are transmitted in the Ethernet, so as to reduce the transmission delay of the first message.

[0081] Secondly, the second message is transmitted between the first processing module and the second processing module, and the second processing module corrects the time at which the second processing module receives the first message according to the second message, so as to keep the time between the first processing module and the second processing module synchronized.

[0082] Specifically, the second message carries a third time, a fourth time, a fifth time and a sixth time. The first processing module is configured to send a synchronization command and a tracking command to the second processing module, the tracking command having the third time at which the first processing module sends the synchronization command; the second processing module is configured to receive the synchronization command and the tracking command at the fourth time, parse the tracking command to obtain the third time, and send a delay request command to the first processing module at the fifth time; the first processing module is configured to receive the delay request command at the sixth time, and send a delay response command to the second processing module, the delay response command carrying the sixth time; and the second processing module is configured to parse the received delay response command to obtain the sixth time, and obtain a time deviation between the second processing module and the first processing module according to the third time, the fourth time, the fifth time and the sixth time, and correct a time at which the second processing module receives the first message according to the time deviation.

[0083] Referring to FIG. 1, Figure 5 the first processing module is taken as a master clock, and the second processing module is taken as a slave clock, and the time of the slave clock is synchronized to the same as the time of the master clock. A specific synchronization process is as follows:

[0084] 1. The first processing module sends a synchronization command to the second processing module at a third time t1, and the second processing module receives the synchronization command at a fourth time t2. At this time, the second processing module does not know when the first processing module sends the synchronization command, but knows that it receives the synchronization command at the fourth time t2.

[0085] 2. The first processing module sends a tracking command to the second processing module, the tracking command carrying the third time t1, and the second processing module parses the tracking command. At this time, the second processing module determines the third time t1 and the fourth time t2.

[0086] 3. The second processing module sends a delay request command to the first processing module at a fifth time t3, and the first processing module receives the delay request command at a sixth time t4. At this time, the second processing module determines the third time t1, the fourth time t2 and the fifth time t3.

[0087] 4. The first processing module feeds back a delay response command to the second processing module in response to the delay request command, the delay response command carrying the sixth time t4. After receiving and parsing the delay response command, the second processing module determines that the first processing module receives the delay request command at the sixth time t4. At this time, the second processing module determines the third time t1, the fourth time t2, the fifth time t3 and the sixth time t4.

[0088] After determining the third, fourth, and fifth times, the second processing module can obtain the outbound transmission delay and the return transmission delay. Since the outbound transmission delay and the return transmission delay are equal, the path transmission delay and the time difference between the second processing module and the first processing module can be calculated using the following formulas (2) and (3):

[0089] t2-t1=path_delay+clock_offset (2)

[0090] In formula (2), t2 is the fourth time, t1 is the third time; path_delay is the path transmission delay, which is the time taken to transmit the first message between the first processing module and the second processing module; and clock_offset is the time difference between the first processing module and the second processing module.

[0091] t4-t3=path_delay-clock_offset (3)

[0092] In formula (3), t4 is the sixth time, t3 is the fifth time; path_delay is the path transmission delay, which is the time taken to transmit the first message between the first processing module and the second processing module; and clock_offset is the time difference between the first processing module and the second processing module.

[0093] Subtracting formula (3) from formula (2) yields the following formula (4):

[0094] clock_offset=(t3-t4+t2-t1) / 2 (4)

[0095] As can be seen from formula (4), after determining the time difference between the first processing module and the second processing module and the first standard time when the first processing module receives the first message, the difference value can be added to the first standard time to obtain the second standard time when the second processing module receives the second message.

[0096] It is evident that by synchronizing the time between the navigation module and the first processing module, as well as between the first processing module and the second processing module, the absolute time of the navigation module, the first processing module, and the second processing module can be kept consistent, thereby reducing the transmission delay caused by time asynchrony.

[0097] Specifically, before the time of the navigation module, the first processing module and the second processing module is synchronized, the transmission delay is about 500ms, after the time of the three is synchronized, and the priority label is set for the first message between the first processing module and the second processing module, the overall data transmission delay can be controlled within 50ms, greatly reducing the data transmission delay.

[0098] Based on the same inventive concept, please refer to Figure 6 The vehicle control method is applied to the vehicle-mounted controller, and the method comprises the following steps:

[0099] In step S11, the navigation data is received by the navigation module, and the navigation data is parsed into the first message, and the first message is transmitted to the first processing module by the pulse generator.

[0100] In step S12, the first message is received by the first processing module, and the first message is sent to the second processing module through Ethernet; the first message carries a priority label, and the Ethernet sends the first message to the second processing module according to the priority label.

[0101] In step S13, the first message, the inertial measurement data sent by the inertial measurement module and the vehicle speed data sent by the control module are received by the second processing module, and the first message, the inertial measurement data and the vehicle speed data are fused.

[0102] Optionally, the first message is transmitted to the first processing module by the pulse generator, comprising:

[0103] In the case that the navigation module sends the first message to the first processing module, the level of the pulse generator is pulled up, the first message has a first standard time of sending the first message by the navigation module, and the first standard time is the absolute time of sending the first message by the navigation module;

[0104] The first message is parsed by the first processing module to obtain the first standard time of sending the first message by the navigation module, and the first time when the level of the pulse generator is pulled up and the second time when the first message is received are recorded;

[0105] The second standard time of receiving the first message by the first processing module is obtained by the first processing module according to the standard time, the first time and the second time, and the second standard time is the absolute time of receiving the first message by the first processing module.

[0106] Optionally, the method further comprises:

[0107] transmitting a second packet between the first processing module and the second processing module;

[0108] correcting, by the second processing module, the time at which the first packet is received by the second processing module according to the second packet, so that the time between the first processing module and the second processing module is kept synchronized.

[0109] Optionally, the second packet carries a third time, a fourth time, a fifth time and a sixth time, and the correcting, by the second processing module, the time at which the first packet is received by the second processing module according to the second packet comprises:

[0110] the first processing module sends a synchronization command and a tracking command to the second processing module, and the tracking command has a third time at which the first processing module sends the synchronization command;

[0111] the second processing module receives the synchronization command and the tracking command at the fourth time, parses the tracking command to obtain the third time, and sends a delay request command to the first processing module at the fifth time;

[0112] the first processing module receives the delay request command at the sixth time, and sends a delay response command to the second processing module, and the delay response command carries the sixth time;

[0113] the second processing module parses the received delay response command to obtain the sixth time, and obtains a time deviation between the second processing module and the first processing module according to the third time, the fourth time, the fifth time and the sixth time, and corrects the time at which the first packet is received by the second processing module according to the time deviation.

[0114] Optionally, the correcting, by the second processing module, the time at which the first packet is received by the second processing module according to the time deviation comprises:

[0115] the second processing module corrects the time at which the first packet is received by the second processing module according to a second standard time at which the first packet is received by the first processing module and the time deviation, to obtain a third standard time at which the first packet is received by the second processing module.

[0116] Optionally, the method further comprises:

[0117] the navigation module receives the navigation data through a vehicle antenna.

[0118] Optionally, the method further comprises:

[0119] The first processing module is connected with a positioning engine in the second processing module.

[0120] An example embodiment of the present disclosure also provides an integrated circuit (IC) or chip, wherein the integrated circuit can be an IC or a collection of multiple ICs; the chip can include but is not limited to the following types: GPU (Graphics Processing Unit), CPU (Central Processing Unit), FPGA (Field Programmable Gate Array), DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), SOC (System on Chip), etc. The above-mentioned integrated circuit or chip can be used to execute executable instructions (or code) to implement the above-mentioned vehicle control method. The executable instructions can be stored in the integrated circuit or chip, or obtained from other devices or equipment, for example, the integrated circuit or chip includes a processor, a memory, and an interface for communication with other devices. The executable instructions can be stored in the memory, and when the executable instructions are executed by the processor, the above-mentioned vehicle control method is implemented; or the integrated circuit or chip can receive executable instructions through the interface and transmit them to the processor for execution, to implement the above-mentioned vehicle control method.

[0121] Figure 7 is a block diagram of a vehicle 600 according to an example embodiment. For example, the vehicle 600 can be a hybrid vehicle, or a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. The vehicle 600 can be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0122] Referring to Figure 7 , the vehicle 600 can include various subsystems, such as an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. The vehicle 600 can include more or fewer subsystems, and each subsystem can include multiple components. In addition, each subsystem and each component of the vehicle 600 can be interconnected by wired or wireless means.

[0123] In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, and a navigation system, etc.

[0124] The perception system 620 may include several sensors for sensing information about the environment surrounding the vehicle 600. For example, the perception system 620 may include a global positioning system (which may be GPS, BeiDou, or other positioning systems), an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0125] The decision control system 630 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0126] The drive system 640 may include components that provide powered motion to the vehicle 600. In one embodiment, the drive system 640 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of internal combustion engines, electric motors, and compressed air engines. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0127] Some or all of the functions of vehicle 600 are controlled by computing platform 650. Computing platform 650 may include at least one processor 651 and memory 652, processor 651 can execute instructions 653 stored in memory 652.

[0128] Processor 651 can be any conventional processor, such as a commercially available CPU. The processor may also include, for example, a Graphics Processing Unit (GPU), a Field Programmable Gate Array (FPGA), a System on Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof.

[0129] The memory 652 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0130] In addition to instructions 653, memory 652 can store data, such as road maps, route information, vehicle's position, direction, speed, etc. The data stored by memory 652 can be used by computing platform 650.

[0131] In embodiments of the present disclosure, processor 651 can execute instructions 653 to complete all or part of the steps of the vehicle control method described above.

[0132] Figure 8 FIG. 19 is a block diagram of an apparatus 1900 for vehicle control according to an example embodiment. For example, apparatus 1900 can be provided as a server. Referring to Figure 8 , apparatus 1900 includes a processing component 1922, which is configured to execute instructions and manipulate data to perform various processes including the steps of the vehicle control method described above. Processing component 1922 can include, for example, one or more processors, such as one or more central processing units (CPUs), application specific integrated circuits (ASICs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), or the like.

[0133] Apparatus 1900 can also include a power supply component 1926 configured to supply power to apparatus 1900, a network interface component 1950 configured to connect apparatus 1900 to a network, and an input / output interface 1958. Apparatus 1900 can operate based on an operating system stored in memory 1932, such as Windows Server TM , Mac OS X TM , Unix TM , Linux TM , FreeBSD TM or the like.

[0134] In another example embodiment, a computer program product is also provided, which includes a computer program capable of being executed by a programmable apparatus, and the computer program has code portions for executing the vehicle control method described above when executed by the programmable apparatus.

[0135] Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the present disclosure. It is intended that the present disclosure cover any and all variations of the present disclosure including combinations of features falling within the general scope of the disclosure. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the disclosure being indicated by the following claims.

[0136] It should be understood that the present disclosure is not limited to the precise construction that has been described above and shown in the accompanying drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the present disclosure. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A vehicle-mounted controller, characterized in that, The vehicle controller includes: The system includes a navigation module, a first processing module connected to the navigation module via a pulse generator, a second processing module connected to the first processing module, and an inertial measurement module and a control module connected to the second processing module; the navigation module is a navigation module reused from an in-vehicle wireless terminal. The navigation module is used to receive navigation data, parse the navigation data into a first message, and transmit the first message to the first processing module through the pulse generator; The first processing module is used to receive the first message and send the first message to the second processing module via Ethernet; the first message carries a priority tag, and the Ethernet prioritizes sending the first message to the second processing module based on the priority tag; The second processing module is used to receive the first message, the inertial measurement data sent by the inertial measurement module, and the vehicle speed data sent by the control module, and to fuse the first message, the inertial measurement data, and the vehicle speed data.

2. The vehicle controller according to claim 1, characterized in that, The navigation module is used to pull up the level of the pulse generator when sending the first message to the first processing module. The first message contains a first standard time for the navigation module to send the first message, and the first standard time is the absolute time for the navigation module to send the first message. The first processing module is used to parse the first message, obtain the first standard time when the navigation module sends the first message, and record the first time when the level of the pulse generator is pulled high and the second time when the first message is received. Based on the standard time, the first time and the second time, the first processing module obtains the second standard time when the first processing module receives the first message. The second standard time is the absolute time when the first processing module receives the first message.

3. The vehicle controller according to claim 1, characterized in that, The first processing module and the second processing module transmit a second message; The second processing module is used to correct the time when the second processing module receives the first message based on the second message, so as to keep the time between the first processing module and the second processing module synchronized.

4. The vehicle controller according to claim 3, characterized in that, The second message carries the third, fourth, fifth, and sixth time times; The first processing module is used to send a synchronization command and a tracking command to the second processing module, wherein the tracking command includes a third time when the first processing module sends the synchronization command; The second processing module is used to receive the synchronization command and the tracking command at the fourth time, parse the tracking command to obtain the third time, and then send a delay request command to the first processing module at the fifth time. The first processing module is used to receive the delay request command at the sixth time and send a delay response command to the second processing module, wherein the delay response command carries the sixth time. The second processing module is used to parse the received delayed response command, obtain the sixth time, and obtain the time deviation between the second processing module and the first processing module based on the third time, the fourth time, the fifth time and the sixth time, and correct the time when the second processing module receives the first message based on the time deviation.

5. The vehicle controller according to claim 4, characterized in that, The second processing module is used to correct the time when the second processing module receives the first message based on the second standard time when the first processing module receives the first message and the time deviation, so as to obtain the third standard time when the second processing module receives the first message.

6. The vehicle controller according to claim 1, characterized in that, The navigation module is used to receive the navigation data through the vehicle's antenna.

7. The vehicle controller according to claim 1, characterized in that, The first processing module is connected to the positioning engine in the second processing module.

8. A vehicle control method, characterized in that, The method is applied to the vehicle controller according to any one of claims 1 to 7; the method includes: The system receives navigation data through a navigation module, parses the navigation data into a first message, and transmits the first message to the first processing module through the pulse generator; the navigation module is a navigation module reused from the vehicle-mounted wireless terminal. The first processing module receives the first message and sends the first message to the second processing module via Ethernet; the first message carries a priority tag, and the Ethernet prioritizes sending the first message to the second processing module based on the priority tag. The second processing module receives the first message, the inertial measurement data sent by the inertial measurement module, and the vehicle speed data sent by the control module, and then fuses the first message, the inertial measurement data, and the vehicle speed data.

9. The vehicle control method according to claim 8, characterized in that, The step of transmitting the first message to the first processing module via the pulse generator includes: When the navigation module sends the first message to the first processing module, the level of the pulse generator is pulled high. The first message contains a first standard time for the navigation module to send the first message, and the first standard time is the absolute time for the navigation module to send the first message. The first processing module parses the first message to obtain the first standard time when the navigation module sends the first message, and records the first time when the level of the pulse generator is pulled high and the second time when the first message is received. The first processing module obtains the second standard time when it receives the first message based on the standard time, the first time, and the second time. The second standard time is the absolute time when the first processing module receives the first message.

10. A vehicle, characterized in that, include: The vehicle controller according to any one of claims 1 to 7.

11. A chip, characterized in that, It includes a processor and an interface; the processor is used to read instructions to execute the vehicle control method of any one of claims 8 and 9.

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