Vehicle control methods, gateways, storage media, and vehicles

Abstract

This application provides a vehicle control method, gateway, storage medium, and vehicle. The method maintains a message disallowing list. When the vehicle switches to simulated driving mode, the gateway loads and enables the message disallowing list. When a service request or control command is received, if the vehicle is currently in simulated driving mode and the service request or control command is in the message disallowing list, the transmission of the service request or control command to the vehicle's power domain is prohibited. Instead, the service request or control command is transmitted to the vehicle's simulated driving control system. This allows the gateway to control the flow of service requests and control commands, enabling the switching between the vehicle's simulated driving mode and the real driving mode. In simulated driving mode, this prevents certain service requests and control commands related to the power system and transmission system from flowing to the power system and transmission system, ensuring vehicle safety in simulated driving mode.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more particularly to a vehicle control method, gateway, storage medium, and vehicle. Background Technology

[0002] With the rapid development of vehicle electrification and intelligence, the role of automobiles can be further expanded into a driving simulation platform, making it suitable for driver training and entertainment. For example, learning to drive doesn't necessarily require driving a real car on the road; a driving simulator is a good tool for learning. Some people enjoy aggressive driving, but aggressive driving on public roads is dangerous, so a highly realistic driving simulator is a good alternative. Others particularly enjoy playing car driving games. However, while current cars offer a realistic driving experience, they lack the ability to simulate driving. Summary of the Invention

[0003] This application provides a method for vehicle control, a gateway, a storage medium, and a vehicle.

[0004] In a first aspect, this application provides a vehicle control method applied to a vehicle gateway, comprising:

[0005] In response to an instruction to switch the vehicle to a simulated driving mode, a message disable list is loaded and enabled, the message disable list including service requests and control commands that are prohibited from being transmitted to the power domain in simulated driving mode;

[0006] When a service request or control command is received, if the vehicle is currently in simulated driving mode, it is determined whether the service request or control command is in the message disabled list.

[0007] If the service request or control command is determined to be in the message disabled list, then the transmission of the service request or control command to the vehicle's power domain is prohibited, and the transmission of the service request or control command to the vehicle's simulated driving control system is prohibited.

[0008] Secondly, this application provides a gateway for a vehicle, comprising:

[0009] A processor, a memory, and a computer program stored in the memory and executable on the processor;

[0010] The processor, when running the computer program, implements the method as described in the first aspect.

[0011] Thirdly, this application provides a vehicle with a driving simulation function, comprising:

[0012] The vehicle-mounted terminal, the driving simulator, the power system, the transmission system, the driving simulator running on the vehicle-mounted terminal, and the gateway as described in the second aspect;

[0013] When the vehicle is in simulated driving mode, the simulated driving system controls the simulated driving equipment to realize the simulated driving function of the vehicle.

[0014] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the method described in the first aspect.

[0015] The vehicle control method, gateway, storage medium, and vehicle provided in this application maintain a message disabling list. In response to an instruction to switch the vehicle to a simulated driving mode, the message disabling list is loaded and enabled. The message disabling list includes service requests and control commands that are prohibited from being transmitted to the power domain in simulated driving mode. When a service request or control command is received, if the vehicle is currently in simulated driving mode, it is determined whether the service request or control command is in the message disabling list. If the service request or control command is determined to be in the message disabling list, the transmission of the service request or control command to the power domain of the vehicle is prohibited, and the service request or control command is transmitted to the simulated driving control system of the vehicle. This utilizes the gateway to control the flow of service requests and control commands, realizing the switching between the simulated driving mode and the real driving mode of the vehicle. In simulated driving mode, it prevents certain service requests and control commands related to the power system and transmission system from flowing to the power system and transmission system, ensuring the safety of the vehicle in simulated driving mode. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0017] Figure 1 A flowchart of a vehicle control method provided in an embodiment of this application;

[0018] Figure 2 A schematic diagram of the structure of a vehicle control device provided in an embodiment of this application;

[0019] Figure 3 A schematic diagram of the structure of a vehicle gateway provided in an embodiment of this application;

[0020] Figure 4 A schematic diagram of the architecture of a vehicle with simulated driving function provided in an embodiment of this application;

[0021] Figure 5A schematic diagram of the architecture of a vehicle with simulated driving function provided for another embodiment of this application;

[0022] Figure 6 An example diagram of the physical architecture of a vehicle provided in one embodiment of this application;

[0023] Figure 7 An example diagram of a vehicle communication architecture provided in one embodiment of this application;

[0024] Figure 8 This is a schematic diagram of a vehicle mode switching control logic provided in an embodiment of this application.

[0025] The accompanying drawings have illustrated specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to specific embodiments. Detailed Implementation

[0026] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0027] The terms "first," "second," etc., used in this application are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. In the descriptions of the following embodiments, "a plurality of" means two or more, unless otherwise explicitly defined.

[0028] The vehicle control method provided in this application is specifically applied to a gateway of a vehicle with a driving simulator function. In response to an instruction to switch the vehicle to driving simulator mode, the gateway loads and enables a message disabling list. When a service request or control instruction is received, if the vehicle is currently in driving simulator mode and the service request or control instruction is in the message disabling list, the transmission of the service request or control instruction to the vehicle's power domain is prohibited. Instead, the service request or control instruction is transmitted to the vehicle's driving simulator control system. This achieves the switching between the vehicle's driving simulator mode and the real driving mode, preventing certain service requests or control instructions from flowing to the power system and transmission system of the power domain in driving simulator mode, thereby ensuring the vehicle's safety in driving simulator mode.

[0029] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0030] Figure 1 This is a flowchart illustrating a vehicle control method provided in an embodiment of this application. The method in this embodiment is applied to a vehicle gateway. Figure 1 As shown, the specific steps of this method are as follows:

[0031] Step S101: In response to the instruction to switch the vehicle to simulated driving mode, load and enable the message disable list, which includes service requests and control commands that are prohibited from being transmitted to the power domain in simulated driving mode.

[0032] The vehicle has two driving modes: simulated driving mode and real driving mode.

[0033] To enable rapid switching between the two driving modes of the vehicle, this embodiment maintains a message disabling list, which includes service requests and control commands that are prohibited from being transmitted to the power domain in simulated driving mode.

[0034] For example, the message disable list may include all service requests and control commands related to the powertrain and transmission systems. In addition, the specific service requests and control commands included in the message disable list can be set and adjusted according to the needs of the actual application scenario, and no specific limitation is made here.

[0035] When the vehicle is switched to simulated driving mode, a message disable list is enabled. Service requests and control commands that appear in the message disable list are prohibited from being transmitted to the power domain. In other words, service requests and control commands that appear in the message disable list are prohibited from flowing to the vehicle's actual power system and transmission system.

[0036] The message disable list can be stored on the gateway. When the vehicle is in real driving mode, the message disable list is not enabled, meaning it has no effect. However, when a command is received to switch the vehicle to simulated driving mode, the gateway automatically loads the message disable list into the running program and enables it.

[0037] Step S102: When a service request or control command is received, if the vehicle is currently in simulated driving mode, determine whether the service request or control command is in the message disabled list.

[0038] In this embodiment, when the vehicle is in simulated driving mode, the service requests and control commands distributed through the gateway must be matched with the message disable list. If it is determined that the currently received service request or control command is included in the message disable list, the current service request or control command will not be transmitted to the power domain.

[0039] In this step, when the gateway receives any service request or control command, it first determines the vehicle's current driving mode. If it determines that the vehicle is currently in simulated driving mode, it then checks whether the received service request or control command is in the message disabled list.

[0040] If it is determined that the service request or control command is in the message disabled list, then step S103 is executed, and the current service request or control command is not transmitted to the power domain.

[0041] If it is determined that the service request or control command is not in the message disabled list, then step S104 is executed to transmit the current service request or control command to the power domain.

[0042] In practical applications, when a user powers on the vehicle, it defaults to real driving mode. When the vehicle is parked, if the user needs to use the simulated driving function, they can send a command to the vehicle's onboard terminal to switch to simulated driving mode. The onboard terminal then switches the vehicle's driving mode from real to simulated driving mode based on this command. The onboard terminal then sends the command to the gateway, which performs subsequent control processing based on this command.

[0043] Step S103: If it is determined that the service request or control command is in the message disabled list, then the transmission of the service request or control command to the vehicle's power domain is prohibited, and the transmission of the service request or control command to the vehicle's simulated driving control system is prohibited.

[0044] If step S102 determines that the service request or control command is in the message disabled list, it indicates that the current service request or control command is related to the powertrain or transmission system. Executing the current service request or control command may cause the vehicle to move, leading to a dangerous situation. Therefore, the gateway prohibits the transmission of service requests or control commands to the vehicle's power domain. Instead, it transmits the service requests or control commands to the vehicle's simulated driving control system, enabling the simulated driving control system to simulate the response to the service requests or control commands, thus realizing the vehicle's simulated driving function.

[0045] Step S104: If it is determined that the service request or control command is not in the message disabled list, then the service request or control command is transmitted to the vehicle's power domain.

[0046] If step S102 determines that the service request or control command is not in the message disabled list, it means that the current service request or control command is unrelated to the powertrain or transmission system. Executing the current service request or control command will not cause the vehicle to move, thus preventing a dangerous situation. The gateway transmits the service request or control command to the vehicle's power domain to enable the vehicle's simulated driving function.

[0047] This application embodiment maintains a message disallowing list. In response to an instruction to switch the vehicle to simulated driving mode, the message disallowing list is loaded and enabled. The message disallowing list includes service requests and control commands that are prohibited from being transmitted to the power domain in simulated driving mode. When a service request or control command is received, if the vehicle is currently in simulated driving mode, it is determined whether the service request or control command is in the message disallowing list. If the service request or control command is determined to be in the message disallowing list, the transmission of the service request or control command to the vehicle's power domain is prohibited, and the service request or control command is transmitted to the vehicle's simulated driving control system. This utilizes a gateway to control the flow of service requests and control commands, realizing the switching between the vehicle's simulated driving mode and the real driving mode. In simulated driving mode, this prevents certain service requests and control commands related to the power system and transmission system from flowing to the power system and transmission system, ensuring the safety of the vehicle in simulated driving mode.

[0048] In the above Figure 1 Based on the corresponding embodiment, in response to the instruction to switch the vehicle to simulated driving mode, the gateway can immediately send a sleep command to the vehicle's powertrain controller and transmission controller.

[0049] When the powertrain controller receives a hibernation command, it controls the vehicle's powertrain to enter hibernation mode, thereby further improving the vehicle's safety in simulated driving mode.

[0050] When the transmission system controller receives a sleep command, it controls the vehicle's transmission system to enter sleep mode, thereby further improving the vehicle's safety in simulated driving mode.

[0051] Furthermore, in response to a command to switch the vehicle to real driving mode, or at the start of the vehicle's next ignition cycle, the gateway sends a wake-up command to the vehicle's powertrain controller and transmission controller.

[0052] When the powertrain controller receives a wake-up command, it wakes up the vehicle's powertrain, so that the powertrain can work normally when the vehicle switches from simulated driving mode to real driving mode.

[0053] When the transmission system controller receives a wake-up command, it wakes up the vehicle's transmission system, so that the transmission system can work normally when the vehicle switches from simulated driving mode to real driving mode.

[0054] Optionally, in response to the instruction to switch the vehicle to simulated driving mode, the gateway can also send a sleep command to all sensors and controllers that are not related to the simulated driving function, so that the unrelated sensors and controllers are put into sleep mode, which can save resources while ensuring the safety of the vehicle in simulated driving mode.

[0055] Furthermore, in response to a command to switch the vehicle to real driving mode, or at the start of the vehicle's next ignition cycle, the gateway sends a wake-up command to all dormant sensors and controllers to wake them up, thereby ensuring that all sensors and controls can function normally when the vehicle switches from simulated driving mode to real driving mode.

[0056] Figure 2 This is a schematic diagram of a vehicle control device according to an embodiment of this application. The vehicle control device provided in this embodiment can execute the processing flow provided in the vehicle control method embodiment. Figure 2 As shown, the vehicle control device 20 includes: a message disable list module 201, a message disable list matching module 202, and a gateway control module 203.

[0057] Specifically, the message disable list module 201 is used to load and enable the message disable list in response to the instruction to switch the vehicle to simulated driving mode. The message disable list includes service requests and control instructions that are prohibited from being transmitted to the power domain in simulated driving mode.

[0058] The message disable list matching module 202 is used to determine whether a service request or control command is in the message disable list when the vehicle is currently in simulated driving mode.

[0059] The gateway control module 203 is used to prevent the transmission of service requests or control commands to the vehicle's power domain and to transmit service requests or control commands to the vehicle's simulated driving control system if it is determined that the service request or control command is in the message disabled list.

[0060] Optionally, the gateway control module is also used for:

[0061] If it is determined that the service request or control command is not in the message disabled list, the service request or control command is transmitted to the vehicle's power domain.

[0062] Optionally, the gateway control module is also used for:

[0063] In response to the command to switch the vehicle to simulated driving mode, a sleep command is sent to the vehicle's powertrain controller and transmission controller.

[0064] Optionally, the gateway control module is also used for:

[0065] In response to a command to switch the vehicle to real driving mode, or at the start of the vehicle's next ignition cycle, a wake-up command is sent to the vehicle's powertrain controller and transmission controller.

[0066] The apparatus provided in this application embodiment can be specifically used to execute the method flow provided in any of the above method embodiments. The specific functions and effects achieved will not be described in detail here.

[0067] This application embodiment maintains a message disallowing list. In response to an instruction to switch the vehicle to simulated driving mode, the message disallowing list is loaded and enabled. The message disallowing list includes service requests and control commands that are prohibited from being transmitted to the power domain in simulated driving mode. When a service request or control command is received, if the vehicle is currently in simulated driving mode, it is determined whether the service request or control command is in the message disallowing list. If the service request or control command is determined to be in the message disallowing list, the transmission of the service request or control command to the vehicle's power domain is prohibited, and the service request or control command is transmitted to the vehicle's simulated driving control system. This utilizes a gateway to control the flow of service requests and control commands, realizing the switching between the vehicle's simulated driving mode and the real driving mode. In simulated driving mode, this prevents certain service requests and control commands related to the power system and transmission system from flowing to the power system and transmission system, ensuring the safety of the vehicle in simulated driving mode.

[0068] Figure 3 This is a schematic diagram of the structure of a vehicle gateway provided in one embodiment of this application. Figure 3 As shown, the gateway 30 includes: a processor 301, a memory 302, and a computer program stored on the memory 302 and executable on the processor 301.

[0069] When the processor 301 runs the computer program, it implements the method provided in any of the above method embodiments. The specific functions and effects achieved will not be described in detail here.

[0070] This application embodiment maintains a message disallowing list. In response to an instruction to switch the vehicle to simulated driving mode, the message disallowing list is loaded and enabled. The message disallowing list includes service requests and control commands that are prohibited from being transmitted to the power domain in simulated driving mode. When a service request or control command is received, if the vehicle is currently in simulated driving mode, it is determined whether the service request or control command is in the message disallowing list. If the service request or control command is determined to be in the message disallowing list, the transmission of the service request or control command to the vehicle's power domain is prohibited, and the service request or control command is transmitted to the vehicle's simulated driving control system. This utilizes a gateway to control the flow of service requests and control commands, realizing the switching between the vehicle's simulated driving mode and the real driving mode. In simulated driving mode, this prevents certain service requests and control commands related to the power system and transmission system from flowing to the power system and transmission system, ensuring the safety of the vehicle in simulated driving mode.

[0071] Figure 4 This is a schematic diagram of the architecture of a vehicle with simulated driving function provided in one embodiment of this application. Figure 4 As shown, the vehicle 40 with driving simulation function includes: an on-board terminal 401, a driving simulation device 402, a power system 403, a transmission system 404, a driving simulation system 405 running on the on-board terminal, and as described above. Figure 3 The gateway 406 provided in the corresponding embodiment. When the vehicle is in simulated driving mode, the simulated driving system controls the simulated driving equipment to realize the simulated driving function of the vehicle.

[0072] For details on the specific functions and technical effects that the gateway can achieve, please refer to the above. Figure 1 The corresponding embodiments are not described in detail here.

[0073] In practical applications, when a user powers on the vehicle, it defaults to real driving mode. When the vehicle is parked, if the user needs to use the simulated driving function, they can send a command to the vehicle's onboard terminal to switch to simulated driving mode. The onboard terminal then switches the vehicle's driving mode from real to simulated driving mode based on this command. The onboard terminal sends the command to the gateway, which, based on this command and a message disable list, controls the flow of subsequent service requests and control commands.

[0074] Optionally, the vehicle terminal is equipped with an application for the vehicle's driving simulator system. The vehicle can be connected to a game controller or other game control device as an information input device for the user to send operation commands to the application for the vehicle's driving simulator system.

[0075] Optionally, the vehicle can also provide a visual interactive interface for the driving simulation system. When the vehicle is parked, users can switch the vehicle from real driving mode to simulated driving mode using clear commands such as voice, touch screen clicks, and gestures. After entering virtual mode, the vehicle uses sound, light, and electrical information to indicate that it is currently in simulated driving mode.

[0076] Alternatively, the vehicle may use its own terminal equipment to run applications for a driving simulation system, such as driving simulation training or driving simulation games, to achieve the driving simulation function.

[0077] The in-vehicle terminal can be the device where the in-vehicle entertainment system is located. By reusing the device where the in-vehicle entertainment system is located, hardware resources can be saved and the cost of vehicles with simulated driving functions can be reduced.

[0078] exist Figure 4 Based on the vehicle shown, optionally, such as Figure 5 As shown, vehicle 40 may also include: wheel speed sensor 407.

[0079] When the vehicle 40 is in simulated driving mode, the wheel speed sensor 407 detects the wheel speed of the vehicle 40 in real time and transmits the wheel speed of the vehicle 40 to the vehicle terminal 401.

[0080] When the vehicle terminal 401 determines that the wheel speed of the vehicle 40 is greater than a speed threshold, it controls the driving simulation device 402 to immediately stop the driving simulation. The speed threshold can be set and adjusted according to the needs of the actual application scenario; this embodiment does not impose specific limitations on it.

[0081] By using wheel speed sensors to monitor vehicle movement in real time during simulated driving mode, if the wheel speed exceeds a very small speed threshold, it is considered dangerous and the simulated driving is immediately terminated, thereby further improving the safety of the vehicle in simulated driving mode.

[0082] Optionally, such as Figure 5 As shown, vehicle 40 may also include: passive safety system 408.

[0083] When the vehicle is in simulated driving mode, the passive safety system 408 detects collision event information of the vehicle in real time and transmits the collision event information of the vehicle to the vehicle terminal 401.

[0084] When the vehicle terminal 401 determines that the collision event information of the vehicle exceeds the collision threshold, it controls the driving simulator 402 to immediately stop the driving simulation. The collision threshold can be set and adjusted according to the needs of the actual application scenario; this embodiment does not impose specific limitations on it.

[0085] The vehicle's passive safety system operates normally in simulated driving mode. While the vehicle is in simulated driving mode, the passive safety system monitors collision event information in real time. When a collision event is detected and it is determined that the collision event information exceeds the collision threshold, the vehicle's simulated driving is immediately terminated, thereby further improving the vehicle's safety in simulated driving mode.

[0086] Optionally, the driving simulator may also include: active suspension.

[0087] Active suspension is used to simulate the actions of a vehicle while it is in driving mode.

[0088] Among these, the actions of a vehicle while in motion include at least: bumping, vibration, pitching, and tilting.

[0089] When the vehicle is in simulated driving mode, the vehicle's active suspension is used to simulate the bumps, vibrations, pitches, and rolls that occur when the vehicle is in motion.

[0090] Specifically, the active suspension simulates the dynamic response of a vehicle in motion by performing actions such as bumping, vibration, pitching, and rolling, based on the vehicle dynamic control commands sent by the driving simulation system.

[0091] For example, active suspension can be active air suspension or active electromagnetic suspension, etc.

[0092] Optionally, the vehicle's steering wheel, steering gear, seat, and seat belt are equipped with motors or vibrators. Based on the vehicle dynamic control commands sent by the driving simulation system, the motors or vibrators can drive the corresponding steering wheel, steering gear, seat, seat belt, etc., to simulate the dynamic response of the vehicle while driving.

[0093] Optionally, the driving simulator may also include a display device.

[0094] The display device is used to display images of the simulated driving environment when the vehicle is in simulated driving mode.

[0095] In this embodiment, the vehicle can provide multiple virtual environment image modes in the simulated driving mode. Different virtual environment image modes can be implemented using different display devices. After the vehicle enters the simulated driving mode, the user can select which virtual environment image mode to use as needed.

[0096] In a virtual environment image mode, the display device may include: a virtual reality device for displaying environmental images of simulated driving.

[0097] Vehicles can be connected to external virtual reality devices as image information output devices in driving simulation system applications.

[0098] Alternatively, virtual reality devices can be head-mounted display devices such as VR (Virtual Reality) glasses and VR headsets, which are easy for users to operate and provide them with an immersive experience.

[0099] In another virtual environment imaging mode, the display device may include: a first vehicle-mounted projection device for projecting simulated driving environment images onto objects outside the vehicle.

[0100] Optionally, the vehicle's lighting device may employ DLP (Digital Light Processing) technology or high-resolution LED technology as the first in-vehicle projection device to project images of the virtual environment output by the simulated driving system onto the surrounding ground and / or obstacles for the user to view.

[0101] In another virtual environment imaging mode, the display device may include: a second vehicle-mounted projection device and a projection screen, wherein the second vehicle-mounted projection device is used to project the environmental images of the simulated driving onto the projection screen.

[0102] The projection screen may include: an electrostatic film in the windshield area, and / or an electrostatic film in the side windshield area.

[0103] Optionally, the second in-vehicle projection device can be a projection device installed inside the vehicle's dashboard. The second in-vehicle projection device can project the virtual environment images output by the driving simulation system onto a projection screen within the range of the windshield for the user to view.

[0104] Optionally, the second vehicle-mounted projection device can be a projection device installed on the roof of the vehicle. This second vehicle-mounted projection device can project the virtual environment images output by the driving simulation system onto a projection screen within the range of the side windshield for the user to view.

[0105] In this virtual environment imaging mode, an opaque frosted electrostatic film or similar shielding material needs to be attached to the windshield on which the projection is projected, which can cause diffuse reflection of light.

[0106] The range of the front windshield and the range of the side windshields can be determined according to the projection range of the projection device, and no specific limitation is made here in this embodiment.

[0107] In practical applications, the vehicle's interior and exterior rearview mirrors can also serve as displays. In simulated driving mode, the simulated driving system outputs the corresponding virtual environment image information to the rearview mirrors, which are then displayed in the rearview mirrors.

[0108] Optionally, the display device may include: an interior rearview mirror display device, a left rearview mirror display device, and a right rearview mirror display device.

[0109] Among them, the in-vehicle rearview mirror display device is used to display the in-vehicle rearview environment image in the environmental image during simulated driving.

[0110] The left-side rearview mirror display device is used to display the left-side rearview environment image in the environmental image during simulated driving.

[0111] The right-side rearview mirror display device is used to display the right-side rearview environment image in the environmental image during simulated driving.

[0112] Additionally, the in-vehicle rearview mirror display device can reuse the vehicle's interior rearview mirror, which can function as a display, or it can be a display device positioned near the vehicle's interior rearview mirror. Optionally, the in-vehicle rearview mirror display device can also be retracted so as not to obstruct the user's view when the vehicle is in actual driving mode.

[0113] The left-side rearview mirror display device can reuse the vehicle's left-side rearview mirror, which can function as a display, or it can be a display device located near the vehicle's left-side rearview mirror. Optionally, the left-side rearview mirror display device can also be retracted so as not to obstruct the user's view when the vehicle is in actual driving mode.

[0114] The right-side rearview mirror display device can reuse the vehicle's right-side rearview mirror, which can function as a display, or it can be a display device located near the vehicle's right-side rearview mirror. Optionally, the right-side rearview mirror display device can also be retracted so as not to obstruct the user's view when the vehicle is in actual driving mode.

[0115] Optionally, the vehicle may also include a steering gear and wheel steering tie rods.

[0116] When the vehicle switches to simulated driving mode, the transmission system is put into hibernation, and the mechanical connection between the steering gear and the wheel steering linkage is automatically disconnected. For example, when the vehicle switches to simulated driving mode, the clutch is automatically disconnected, allowing the steering wheel to turn but the wheels to remain stationary.

[0117] When the vehicle switches to real driving mode, the transmission system is activated, restoring the mechanical connection between the steering gear and the wheel steering linkage.

[0118] Optionally, when switching to simulated driving mode, the vehicle's power system is deactivated. When switching to real driving mode, the vehicle is ready to output power.

[0119] For example, in the case of an electric vehicle, switching to simulated driving mode can cut off the high-voltage power to the motor, disconnecting the power supply. In the case of a fuel-powered vehicle, switching to simulated driving mode can de-energize the fuel pump, stopping the fuel supply.

[0120] Optionally, the drivetrain includes: an instrument panel and a central control screen.

[0121] When the vehicle switches to simulated driving mode, the instrument panel and central control screen display virtual information about the simulated driving process, as well as simulated driving prompts. The simulated driving prompts indicate that the vehicle is currently in simulated driving mode.

[0122] While the vehicle is in simulated driving mode, the dashboard and center console screen display virtual vehicle information from the simulated driving system, along with a notification indicating that the vehicle is currently in simulated driving mode.

[0123] In practical applications, vehicles have various sensors, such as speed sensors, acceleration sensors, satellite positioning sensors, radar, and cameras. Optionally, the driving simulation system also includes virtual sensors, simulating the sensors on the vehicle providing environmental data about the vehicle's driving environment to the driving simulation system.

[0124] When a vehicle enters simulated driving mode, all sensors unrelated to the simulated driving function go into hibernation and are replaced by virtual sensors in the simulated driving system, which saves resources.

[0125] When the vehicle is in simulated driving mode, the gateway automatically terminates information interaction with systems unrelated to the simulated driving, and instead sends control commands such as acceleration, braking, steering, gear shifting, light signals, wipers, and horn to the simulated driving system on the in-vehicle terminal (which can be the head unit of the in-vehicle entertainment system). The simulated driving system then outputs control commands to actuators such as the active suspension, seat, seatbelts, and steering wheel, and transmits these commands to the corresponding actuators via the gateway. The visual information output by the simulated driving system is then transmitted to the display device and / or audio equipment either through the gateway or directly.

[0126] Optionally, the vehicle can also utilize the onboard communication module to achieve information interaction between the vehicle and the cloud server of the driving simulation system via 4G / 5G communication networks or wireless networks (such as WIFI), and to achieve information interaction with nearby vehicles or devices via V2X (vehicle to X, vehicle wireless communication technology) and wireless networks (such as WIFI), thereby enabling a more realistic driving simulation function.

[0127] For example, Figure 6 An example diagram of the physical architecture of a vehicle is provided. Figure 7 An example diagram of a vehicle's communication architecture is provided, such as... Figure 6 and Figure 7 As shown, the vehicle gateway has a communication connection with the in-vehicle entertainment system host (i.e., the in-vehicle terminal where the driving simulator system is located). The vehicle gateway can interact with the cloud server corresponding to the driving simulator application and other vehicles through the in-vehicle communication module. The vehicle gateway can also enable the in-vehicle entertainment system host to interact with other control modules (such as…) Figure 6The components shown include the car accelerator pedal, car brake pedal, clutch-operated steering system, electronic shift module, and light signal control module, as well as driving simulators (such as...). Figure 6 The data interaction includes the projection equipment, interior rearview mirror display device, exterior rearview mirror display device, instrument panel, speakers, active suspension, electric seat belts, electric seats, and vibrating steering wheel shown. The vehicle gateway can distribute acceleration operation signals, braking operation signals, steering operation signals, gear shifting operation signals, and light operation signals to the corresponding control modules, and control the simulated driving equipment to display images of the external environment and / or images of the interior and exterior rearview mirrors, display information on the instrument panel, play sound from the speakers, control the active suspension to achieve vehicle pitch, roll, and vibration, seat belt retraction / coil, seat vibration, and steering wheel vibration, thereby realizing the vehicle's simulated driving function.

[0128] For example, Figure 8 A schematic diagram of the control logic for vehicle mode switching is provided, such as... Figure 8 As shown, the control logic for vehicle mode switching is as follows:

[0129] 1) When the user operates the car to power on the whole vehicle, the default mode is real driving mode.

[0130] 2) When the car is parked, the user can select the simulated driving mode. If the vehicle is not parked, switching to the simulated driving mode is not allowed.

[0131] 3) While the car is in simulated driving mode, the passive safety system monitors collision event information. If the collision event information exceeds the collision threshold, the simulated driving mode will be exited immediately.

[0132] 4) During the simulated driving mode, the speed sensor monitors the wheel speed in real time. When the wheel speed exceeds the speed threshold, the simulated driving mode is immediately exited.

[0133] 5) When the car switches to simulated driving mode, the transmission clutch of the steering gear is released.

[0134] 6) When the car switches to simulated driving mode, the fuel pump is de-energized.

[0135] 7) When the car switches to simulated driving mode, the power supply is disconnected.

[0136] 8) When the car switches to simulated driving mode, irrelevant sensors and controllers go into hibernation.

[0137] 9) The gateway disconnects communication with unrelated vehicle equipment.

[0138] 10) The gateway connects to the communication of the driving simulator-related equipment.

[0139] 11) Users can choose to access the application for the driving simulator system.

[0140] 12) The user selects a virtual environment image mode and performs simulated driving operations. The simulated driving system controls the display device, active suspension, occupant restraint system, audio system, and other simulated driving equipment according to the user's operation. For example, it controls the output of image signals from display devices such as projection equipment and external VR headsets.

[0141] 12) Exit the simulated driving mode when the user selects the real driving mode.

[0142] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the method provided in any of the above method embodiments.

[0143] This application also provides a computer program product, which includes: a computer program stored in a readable storage medium, at least one processor of a vehicle gateway can read the computer program from the readable storage medium, and the at least one processor executes the computer program to cause the gateway to perform the method provided in any of the above method embodiments.

[0144] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0145] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0146] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0147] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0148] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is merely an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the device described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0149] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0150] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A method for vehicle control, characterized in that, Gateways used in vehicles include: In response to an instruction to switch the vehicle to simulated driving mode, a preset message disable list is loaded and enabled, the message disable list including service requests and control commands that are prohibited from being transmitted to the power domain in simulated driving mode; When a service request or control command is received, if the vehicle is currently in simulated driving mode, it is determined whether the service request or control command is in the message disabled list. If the service request or control command is determined to be in the message disabled list, then the transmission of the service request or control command to the power domain of the vehicle is prohibited, and the transmission of the service request or control command to the vehicle's simulated driving control system is prohibited. While the vehicle is in simulated driving mode, the wheel speed of the vehicle is detected in real time by wheel speed sensors, and the collision event information of the vehicle is detected in real time by the passive safety system. If the wheel speed detected by the wheel speed sensor is greater than a preset speed threshold, or if the collision event information detected by the passive safety system is greater than a preset collision threshold, the simulated driving control system will immediately stop the simulated driving.

2. The method according to claim 1, characterized in that, The step of determining whether the service request or control command is in the message disable list when a service request or control command is received, if the vehicle is currently in simulated driving mode, further includes: If it is determined that the service request or control command is not in the message disabled list, then the service request or control command is transmitted to the vehicle's power domain.

3. The method according to claim 1 or 2, characterized in that, Also includes: In response to the instruction to switch the vehicle to simulated driving mode, a sleep command is sent to the vehicle's powertrain controller and transmission controller.

4. The method according to claim 3, characterized in that In response to an instruction to switch the vehicle to simulated driving mode, after sending a sleep command to the vehicle's powertrain controller and transmission controller, the method further includes: In response to an instruction to switch the vehicle to real driving mode, or at the start of the next ignition cycle of the vehicle, a wake-up instruction is sent to the vehicle's powertrain controller and transmission controller.

5. A gateway for a vehicle, characterized in that, include: A processor, a memory, and a computer program stored in the memory and executable on the processor; The processor implements the method as described in any one of claims 1-4 when running the computer program.

6. A vehicle with a driving simulation function, characterized in that, include: The vehicle-mounted terminal, the driving simulator, the power system, the transmission system, the driving simulator running on the vehicle-mounted terminal, and the gateway as described in claim 5; When the vehicle is in simulated driving mode, the simulated driving system controls the simulated driving equipment to realize the simulated driving function of the vehicle.

7. The vehicle according to claim 6, characterized in that, Also includes: Wheel speed sensor, When the vehicle is in simulated driving mode, the wheel speed sensor detects the wheel speed of the vehicle in real time and transmits the wheel speed of the vehicle to the vehicle terminal. When the vehicle terminal determines that the wheel speed of the vehicle is greater than a speed threshold, it controls the simulated driving device to immediately stop the simulated driving.

8. The vehicle according to claim 6, characterized in that, Also includes: Passive safety system When the vehicle is in simulated driving mode, the passive safety system detects the vehicle's collision event information in real time and transmits the collision event information to the vehicle terminal. When the vehicle terminal determines that the collision event information of the vehicle is greater than the collision threshold, it controls the simulated driving device to immediately stop the simulated driving.

9. The vehicle according to claim 6, characterized in that, The driving simulation device includes: active suspension, The active suspension is used to simulate the actions of the vehicle while it is in driving mode. The actions of the vehicle during travel include at least: bumping, vibration, pitching, and tilting.

10. The vehicle according to claim 6, characterized in that, The driving simulator includes: a display device, The display device is used to display environmental images of the simulated driving when the vehicle is in simulated driving mode; The display device includes at least one of the following: The first vehicle-mounted projection device is used to project the environmental images of the simulated driving onto objects outside the vehicle. A second vehicle-mounted projection device and a projection screen, wherein the second vehicle-mounted projection device is used to project the environmental images of the simulated driving onto the projection screen; Virtual reality equipment is used to display environmental images of the simulated driving.

11. The vehicle according to claim 10, characterized in that, The projection screen includes: Electrostatic film in the front windshield area, and / or electrostatic film in the side windshield area.

12. The vehicle according to claim 10, characterized in that, The display device further includes: The in-vehicle rearview mirror display device is used to display the in-vehicle rearview environment image in the environmental image of the simulated driving; The left-side rearview mirror display device is used to display the left-side rearview environmental image in the environmental image during the simulated driving; The right-side rearview mirror display device is used to display the right-side rearview environmental image in the environmental image during the simulated driving.

13. The vehicle according to claim 6, characterized in that, The transmission system includes: a steering gear and wheel steering tie rods. When the vehicle switches to simulated driving mode, the transmission system is put into hibernation, and the mechanical connection between the steering gear and the wheel steering tie rod is disconnected; When the vehicle switches to real driving mode, the transmission system is activated, restoring the mechanical connection between the steering gear and the wheel steering linkage.

14. The vehicle according to claim 6, characterized in that, The drive system includes: an instrument panel and a central control screen. When the vehicle switches to simulated driving mode, the instrument panel and central control screen are used to display virtual information during simulated driving, as well as simulated driving prompts. The simulated driving prompt information is used to indicate that the vehicle is currently in simulated driving mode.

15. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-4.

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