Vehicle redundancy control method, system, electronic device and readable storage medium

Abstract

The application relates to the technical field of vehicle controllers and discloses a vehicle redundancy control method, a vehicle redundancy control system, an electronic device and a readable storage medium, the method obtains a vehicle target algorithm of a current version and a test version, sets the vehicle target algorithm of the current version on a first controller, and sets the vehicle target algorithm of the test version on a second controller, so that when the first controller is in a normal operation state, the vehicle target algorithm is performed through the first controller, algorithm testing is performed through the second controller, and when the first controller is in a fault state, the vehicle target algorithm is performed through the second controller, the redundancy mechanism is introduced, and the vehicle algorithm testing is performed together, so that the deployment cycle and the verification cycle of the vehicle algorithm are reduced, and the efficiency of improving the safety of the vehicle algorithm is improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle controller technology, and in particular to a vehicle redundancy control method, system, electronic device, and readable storage medium. Background Technology

[0002] With the continuous development of intelligent vehicles, the vehicle control unit (ECU) generates vehicle control signals through its own vehicle algorithms to provide reference for vehicle driving and information interaction, and has become an indispensable part of the vehicle terminal. Due to the extremely high requirements of the vehicle industry for safety and reliability, on the one hand, it is necessary to introduce a redundancy mechanism to ensure that the redundant control system can take effect and continue to perform the work of the faulty control system in the event of a failure of a single control system, so as to ensure the safety of the vehicle and its passengers. On the other hand, it is necessary to conduct a lot of testing and verification of the vehicle algorithm to determine its reliability.

[0003] However, since the introduction of redundancy mechanisms and the verification of vehicle algorithms are relatively independent and need to be executed separately, the execution efficiency of both is low, resulting in a long deployment and verification cycle for vehicle algorithms. This leads to low efficiency in improving the security of vehicle algorithms and fails to meet user experience requirements. Summary of the Invention

[0004] To provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not intended as a general commentary, nor is it intended to identify key / important components or describe the scope of protection of these embodiments, but rather as a prelude to the detailed description that follows.

[0005] In view of the shortcomings of the prior art described above, the present invention discloses a vehicle redundancy control method, system, electronic device and readable storage medium to accelerate the improvement of vehicle safety efficiency.

[0006] This invention provides a vehicle redundancy control method applied to a vehicle terminal, the vehicle terminal including multiple area controllers. The method includes: acquiring a vehicle target algorithm, wherein the vehicle target algorithm has a current version and a test version; setting the current version of the vehicle target algorithm in a first controller and setting the test version of the vehicle target algorithm in a second controller, wherein the first controller and the second controller are different area controllers; if the first controller is in normal operation, generating vehicle control information for controlling the vehicle terminal using the vehicle target algorithm of the first controller, and determining the algorithm test result corresponding to the test version using the vehicle target algorithm of the second controller; if the first controller is in a fault state, generating vehicle control information for controlling the vehicle terminal using the vehicle target algorithm of the second controller.

[0007] Optionally, before obtaining the vehicle target algorithm, the method further includes: obtaining multiple vehicle control algorithms and determining the algorithm function of each vehicle control algorithm; determining safety-related algorithms and shared information algorithms from the original vehicle algorithms based on the algorithm function, wherein the vehicle target algorithm includes at least a portion of the safety-related algorithms.

[0008] Optionally, the method further includes: the vehicle terminal further includes an on-board computer, the on-board computer including a central computer and / or the experience computer; the shared information algorithm is pre-set in the area controller; the area controller is used to generate a shared information signal, and the shared information signal is sent to the on-board computer.

[0009] Optionally, the first controller and the second controller are determined by the following method: the vehicle terminal further includes vehicle actuators, and each of the area controllers is connected to at least a portion of the vehicle actuators; the lower-level actuator corresponding to the vehicle target algorithm is determined from the vehicle actuators, and the data transmission distance between the lower-level actuator and each of the area controllers is determined; the first controller and the second controller are determined from the area controllers based on the data transmission distance.

[0010] Optionally, the method further includes: in response to the vehicle control information, sending the vehicle control information to the lower actuator corresponding to the vehicle target algorithm, so that the lower actuator executes the vehicle control command corresponding to the vehicle control information.

[0011] Optionally, determining the algorithm test result corresponding to the test version using the vehicle target algorithm of the second controller includes: generating vehicle control information through the vehicle target algorithm of the second controller; storing the vehicle control information in the second controller to obtain a storage record; and / or analyzing the vehicle control information to obtain an information analysis result; and determining the storage record and / or the information analysis result as the algorithm test result corresponding to the test version.

[0012] Optionally, the method further includes: if there is no test version of the vehicle target algorithm, then the current version is determined as the test version of the vehicle target algorithm.

[0013] This invention provides a vehicle redundancy control system applied to a vehicle terminal. The vehicle terminal includes multiple area controllers. The system includes: an acquisition module for acquiring a vehicle target algorithm, wherein the vehicle target algorithm has a current version and a test version; a setting module for setting the current version of the vehicle target algorithm in a first controller and setting the test version of the vehicle target algorithm in a second controller, wherein the first controller and the second controller are different area controllers; a first control module for generating vehicle control information for controlling the vehicle terminal using the vehicle target algorithm of the first controller when the first controller is in normal operation, and determining the algorithm test result corresponding to the test version using the vehicle target algorithm of the second controller; and a second control module for generating vehicle control information for controlling the vehicle terminal using the vehicle target algorithm of the second controller when the first controller is in a fault state.

[0014] The present invention provides an electronic device, comprising: a processor and a memory; the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to cause the electronic device to perform the above-described method.

[0015] The present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the above-described method.

[0016] The beneficial effects of this invention are:

[0017] By acquiring the current and test versions of the vehicle target algorithm, the current version is set on the first controller, and the test version is set on the second controller. Thus, when the first controller is operating normally, the vehicle target algorithm is executed via the first controller, and the algorithm is tested via the second controller. Conversely, when the first controller is malfunctioning, the vehicle target algorithm is executed via the second controller. This approach, by setting the current and test versions of the vehicle target algorithm on different regional controllers, not only introduces a redundancy mechanism, allowing both the first and second controllers to redundantly execute the vehicle target algorithm, but also enables simultaneous algorithm testing via the second controller while the first controller is executing the algorithm. This achieves both redundancy and algorithm testing, thereby reducing the deployment and verification cycles of the vehicle algorithm and improving the efficiency of vehicle algorithm security enhancement. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of a vehicle terminal in an embodiment of the present invention;

[0019] Figure 2This is a flowchart illustrating a vehicle redundancy control method according to an embodiment of the present invention;

[0020] Figure 3 This is a flowchart illustrating another vehicle redundancy control method in an embodiment of the present invention;

[0021] Figure 4 This is a schematic diagram of the structure of a vehicle redundancy control system in an embodiment of the present invention;

[0022] Figure 5 This is a schematic diagram of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0023] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and sub-samples in the embodiments can be combined with each other.

[0024] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0025] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0026] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this disclosure described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0027] Unless otherwise stated, the term "multiple" means two or more.

[0028] In this embodiment of the disclosure, the character " / " indicates that the objects before and after it are in an "or" relationship. For example, A / B means: A or B.

[0029] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0030] Combination Figure 1 As shown, this embodiment of the present disclosure provides a vehicle terminal, including an area controller 101, an on-board computer 102, and a vehicle actuator 103;

[0031] The area controller 101 includes a left front area controller, a right front area controller, and a rear area controller. Each area controller consists of a controller algorithm and a communication module (service and signal conversion module). The area controllers are connected to the on-board computer via the DDS (Data Distribution Service) protocol, and the area controllers are also connected to each other via the DDS protocol. The area controllers are also connected to the vehicle actuators via the CAN (Controller Area Network) bus through the communication module. The area controllers are used to generate vehicle signals, such as vehicle control information and shared information signals, through the controller algorithm, and to provide information interaction and control output to the on-board computer and / or vehicle actuators.

[0032] The vehicle-mounted computer 102 includes a central computer and an experience computer. The central computer is responsible for computing tasks with high computing power requirements throughout the vehicle, such as vision processing and sensor fusion. The experience computer is responsible for processing content that directly interacts with the user throughout the vehicle, such as human-computer interaction.

[0033] The vehicle actuator 103 is used to execute vehicle control information to control the vehicle terminal.

[0034] Combination Figure 2 As shown, this disclosure provides a vehicle redundancy control method, characterized by comprising:

[0035] Step S201, obtain the vehicle target algorithm;

[0036] The vehicle target algorithm has a current version and a test version;

[0037] Step S202: Set the current version of the vehicle target algorithm in the first controller and set the test version of the vehicle target algorithm in the second controller;

[0038] Among them, the first controller and the second controller are different area controllers;

[0039] Step S203: If the first controller is in normal operation, the vehicle target algorithm of the first controller is used to generate vehicle control information for controlling the vehicle terminal, and the vehicle target algorithm of the second controller is used to determine the algorithm test result corresponding to the test version.

[0040] Step S204: If the first controller is in a fault state, the vehicle control information for controlling the vehicle terminal is generated using the vehicle target algorithm of the second controller.

[0041] The vehicle redundancy control method provided in this disclosure acquires the current version and a test version of the vehicle target algorithm. The current version of the vehicle target algorithm is set in the first controller, and the test version is set in the second controller. Thus, when the first controller is operating normally, the vehicle target algorithm is executed through the first controller, and the algorithm is tested through the second controller. Conversely, when the first controller is in a fault state, the vehicle target algorithm is executed through the second controller. By setting the current version and the test version of the vehicle target algorithm separately in different regional controllers, a redundancy mechanism is introduced, enabling redundant execution of the vehicle target algorithm by both the first and second controllers. Furthermore, the algorithm is tested simultaneously by the second controller while the first controller is executing the vehicle target algorithm, achieving simultaneous implementation of the redundancy mechanism and the testing of the vehicle algorithm. This reduces the deployment and verification cycles of the vehicle algorithm and improves the efficiency of vehicle algorithm security enhancement.

[0042] Optionally, before obtaining the vehicle target algorithm, the method further includes: obtaining multiple vehicle control algorithms and determining the algorithm function of each vehicle control algorithm; determining safety-related algorithms and shared information algorithms from the original vehicle algorithms based on the algorithm functions, wherein the vehicle target algorithm includes at least a portion of the safety-related algorithms.

[0043] In some embodiments, safety-related algorithms are related to vehicle functions such as vehicle power, autonomous driving, and vehicle power-on status. Redundancy mechanisms are introduced for safety-related algorithms to avoid situations that threaten personal safety due to the failure of a single controller.

[0044] In some embodiments, the shared information algorithm is related to vehicle functions such as vision processing, sensor signal processing, human-machine interaction, and information sharing. The shared information algorithm is used to improve the user's vehicle experience, reduce redundant mechanisms and reliability testing of the shared information algorithm, thereby reducing costs.

[0045] Optionally, the method further includes: if there is no test version of the vehicle target algorithm, then the current version is determined as the test version of the vehicle target algorithm.

[0046] Optionally, the method further includes: the vehicle terminal further includes an on-board computer, which includes a central computer and / or an experience computer; the shared information algorithm is pre-set in the area controller; the area controller generates a shared information signal, and the shared information signal is sent to the on-board computer.

[0047] Optionally, the first controller and the second controller are determined by the following method: the vehicle terminal further includes vehicle actuators, and each area controller is connected to at least a portion of the vehicle actuators; the lower-level actuator corresponding to the vehicle target algorithm is determined from the vehicle actuators, and the data transmission distance between the lower-level actuator and each area controller is determined; the first controller and the second controller are determined from the area controllers based on the data transmission distance.

[0048] In some embodiments, the deployment of vehicle target algorithms for the current and test versions is not fixed, but rather deployed according to the algorithm function and the proximity principle of the under-mount controller.

[0049] Optionally, the method further includes: in response to vehicle control information, sending the vehicle control information to the lower actuator corresponding to the vehicle target algorithm, so that the lower actuator executes the vehicle control command corresponding to the vehicle control information.

[0050] In some embodiments, in response to vehicle control information, vehicle control information is exchanged with a communication module, and then the vehicle control information is sent to the lower actuator via the CAN bus.

[0051] In some embodiments, the first controller is determined to be in a fault state by the following method: monitoring the first controller by a second controller; if the first controller experiences a communication failure, limited signal output, or abnormal controller reset, then the first controller is determined to be in a fault state.

[0052] In some embodiments, if the first controller is in a fault state, the communication module is disabled from operating, and the first controller is prohibited from outputting signals via the CAN bus.

[0053] Optionally, the vehicle target algorithm of the second controller is used to determine the algorithm test result corresponding to the test version, including at least one of the following: generating vehicle control information through the vehicle target algorithm of the second controller; storing the vehicle control information in the second controller to obtain a storage record; and / or analyzing the vehicle control information to obtain an information analysis result; and determining the storage record and / or the information analysis result as the algorithm test result corresponding to the test version.

[0054] In some embodiments, a shadow mode is set in the second controller, wherein the shadow mode is used to generate vehicle control information through the vehicle target algorithm of the second controller, store the vehicle control information in the second controller, analyze the vehicle control information, obtain information analysis results, and not output the actual vehicle control information.

[0055] Combination Figure 3 As shown, this disclosure provides a vehicle redundancy control method, including:

[0056] Step S301: First controller and second controller are pre-configured on the vehicle terminal;

[0057] The first controller is configured with the current version of the vehicle target algorithm, and the second controller is configured with the test version of the vehicle target algorithm.

[0058] Step S302: If the vehicle terminal is powered on, the first controller is monitored by the second controller.

[0059] Step S303: Determine whether the first controller is in normal working condition. If yes, proceed to steps S304 and S306. If no, proceed to steps S308 and S309.

[0060] Step S304: Use the vehicle target algorithm of the first controller to generate vehicle control information for controlling the vehicle terminal, and then proceed to step S305.

[0061] Step S305: Send vehicle control information to the vehicle controller via the CAN bus.

[0062] Step S306: Disable the operation of the communication module of the second controller and prevent the second controller from outputting signals through the CAN bus; then proceed to step S307.

[0063] Step S307: Use the vehicle target algorithm of the second controller to determine the algorithm test result corresponding to the test version.

[0064] Step S308: Disable the operation of the communication module of the first controller and disable the first controller from outputting signals through the CAN bus.

[0065] Step S309: Use the vehicle target algorithm of the second controller to generate vehicle control information for controlling the vehicle terminal, and then proceed to step S310.

[0066] Step S310: Send vehicle control information to the vehicle controller via the CAN bus.

[0067] The vehicle redundancy control method provided in this disclosure acquires the current version and a test version of the vehicle target algorithm. The current version of the vehicle target algorithm is set in the first controller, and the test version is set in the second controller. Thus, when the first controller is operating normally, the vehicle target algorithm is executed through the first controller, and the algorithm is tested through the second controller. Conversely, when the first controller is in a fault state, the vehicle target algorithm is executed through the second controller. By setting the current version and the test version of the vehicle target algorithm separately in different regional controllers, a redundancy mechanism is introduced, enabling redundant execution of the vehicle target algorithm by both the first and second controllers. Furthermore, the algorithm is tested simultaneously by the second controller while the first controller is executing the vehicle target algorithm, achieving simultaneous implementation of the redundancy mechanism and the testing of the vehicle algorithm. This reduces the deployment and verification cycles of the vehicle algorithm and improves the efficiency of vehicle algorithm security enhancement.

[0068] Combination Figure 4 As shown, this embodiment of the disclosure provides a vehicle redundancy control system, including an acquisition module 401, a setting module 402, a first control module 403, and a second control module 404. The acquisition module 401 is used to acquire a vehicle target algorithm, wherein the vehicle target algorithm has a current version and a test version; the setting module 402 is used to set the current version of the vehicle target algorithm in a first controller and set the test version of the vehicle target algorithm in a second controller, wherein the first controller and the second controller are different area controllers; the first control module 403 is used to generate vehicle control information for controlling the vehicle terminal using the vehicle target algorithm of the first controller if the first controller is in normal operating condition, and to determine the algorithm test result corresponding to the test version using the vehicle target algorithm of the second controller; the second control module 404 is used to generate vehicle control information for controlling the vehicle terminal using the vehicle target algorithm of the second controller if the first controller is in a fault state.

[0069] The vehicle redundancy control method provided in this disclosure acquires the current version and a test version of the vehicle target algorithm. The current version of the vehicle target algorithm is set in the first controller, and the test version is set in the second controller. Thus, when the first controller is operating normally, the vehicle target algorithm is executed through the first controller, and the algorithm is tested through the second controller. Conversely, when the first controller is in a fault state, the vehicle target algorithm is executed through the second controller. By setting the current version and the test version of the vehicle target algorithm separately in different regional controllers, a redundancy mechanism is introduced, enabling redundant execution of the vehicle target algorithm by both the first and second controllers. Furthermore, the algorithm is tested simultaneously by the second controller while the first controller is executing the vehicle target algorithm, achieving simultaneous implementation of the redundancy mechanism and the testing of the vehicle algorithm. This reduces the deployment and verification cycles of the vehicle algorithm and improves the efficiency of vehicle algorithm security enhancement.

[0070] Figure 5 A schematic diagram of a computer system suitable for implementing the embodiments of this application is shown. It should be noted that... Figure 5 The computer system 500 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0071] like Figure 5 As shown, the computer system 500 includes a Central Processing Unit (CPU) 501, which can perform various appropriate actions and processes, such as executing the methods described in the above embodiments, based on a program stored in Read-Only Memory (ROM) 502 or a program loaded from Storage Unit 508 into Random Access Memory (RAM) 503. The RAM 503 also stores various programs and data required for system operation. The CPU 501, ROM 502, and RAM 503 are interconnected via a bus 504. An Input / Output (I / O) interface 505 is also connected to the bus 504.

[0072] The following components are connected to I / O interface 505: an input section 506 including a keyboard, mouse, etc.; an output section 507 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to I / O interface 505 as needed. A removable medium 511, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 510 as needed so that computer programs read from it can be installed into storage section 508 as needed.

[0073] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 509, and / or installed from removable medium 511. When the computer program is executed by central processing unit (CPU) 501, it performs various functions defined in the system of this application.

[0074] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0075] This disclosure also provides a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements any of the methods in this embodiment.

[0076] The computer-readable storage medium in the embodiments of this disclosure will be understood by those skilled in the art: all or part of the steps of the above method embodiments can be implemented by hardware related to computer programs. The aforementioned computer program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disk, or optical disk.

[0077] The electronic device disclosed in this embodiment includes a processor, a memory, a transceiver, and a communication interface. The memory and the communication interface are connected to the processor and the transceiver and complete communication between them. The memory is used to store computer programs, the communication interface is used to perform communication, and the processor and the transceiver are used to run the computer programs, so that the electronic device performs the various steps of the above method.

[0078] In this embodiment, the memory may include random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage device.

[0079] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), graphics processing units (GPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0080] The foregoing description and accompanying drawings fully illustrate embodiments of this disclosure to enable those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, procedural, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and subsamples of some embodiments may be included in or replace parts and subsamples of other embodiments. Moreover, the terminology used in this application is for describing embodiments only and is not intended to limit the claims. As used in the description of embodiments and claims, the singular forms “a,” “an,” and “the” are intended to equally include the plural forms unless the context clearly indicates otherwise. Similarly, the term “and / or” as used herein means including one or more of the associated listed items and all possible combinations thereof. Additionally, when used in this application, the term "comprise" and its variations "comprises" and / or "comprising" refer to the presence of stated subsamples, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other subsamples, wholes, steps, operations, elements, components, and / or groups thereof. Without further limitations, an element defined by the phrase "comprising a..." does not exclude the presence of other identical elements in the process, method, or apparatus that includes the element. In this document, each embodiment may focus on the differences from other embodiments, and similar or identical parts between embodiments can be referred to mutually. For methods, products, etc., disclosed in the embodiments, if they correspond to the method section disclosed in the embodiments, the relevant parts can be referred to the description of the method section.

[0081] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this disclosure. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0082] The methods and products (including but not limited to devices and equipment) disclosed in the embodiments herein can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units may be merely 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 sub-samples may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms. Units described as separate components may or may not be physically separate, and 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 may be selected to implement this embodiment according to actual needs. Furthermore, the functional units in the embodiments of this disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0083] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than that shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. In the descriptions corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different blocks may also occur in a different order than disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. Each block in a block diagram and / or flowchart, and combinations of blocks in a block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

Claims

1. A vehicle redundancy control method, characterized in that, Applied to a vehicle terminal, the vehicle terminal including multiple area controllers, the method includes: Obtain a vehicle target algorithm, wherein the vehicle target algorithm has a current version and a test version; The current version of the vehicle target algorithm is set in the first controller, and the test version of the vehicle target algorithm is set in the second controller, wherein the first controller and the second controller are different area controllers; If the first controller is in normal operation, the vehicle control information for controlling the vehicle terminal is generated using the vehicle target algorithm of the first controller, and the algorithm test result corresponding to the test version is determined using the vehicle target algorithm of the second controller. If the first controller is in a fault state, the vehicle control information for controlling the vehicle terminal is generated using the vehicle target algorithm of the second controller.

2. The method according to claim 1, characterized in that, Before obtaining the vehicle target algorithm, the method further includes: Acquire multiple vehicle control algorithms and determine the algorithmic function of each vehicle control algorithm; Based on the algorithm function, safety-related algorithms and information-sharing algorithms are determined from the vehicle control algorithm, wherein the vehicle target algorithm includes at least a portion of the safety-related algorithms.

3. The method according to claim 2, characterized in that, The method further includes: The vehicle terminal also includes an on-board computer, which includes a central computer and / or an experience computer, wherein the experience computer is responsible for processing content that interacts with the user. The shared information algorithm is pre-configured in the area controller; The area controller generates a shared information signal and sends the shared information signal to the vehicle-mounted computer.

4. The method according to claim 1, characterized in that, The first and second controllers are determined using the following method: The vehicle terminal also includes vehicle actuators, and each of the area controllers is connected to at least a portion of the vehicle actuators. The lower actuator corresponding to the vehicle target algorithm is determined from the vehicle actuators, and the data transmission distance between the lower actuator and each of the area controllers is determined. The first controller and the second controller are determined from the area controller based on the data transmission distance.

5. The method according to claim 4, characterized in that, The method further includes: In response to the vehicle control information, the vehicle control information is sent to the lower actuator corresponding to the vehicle target algorithm, so that the lower actuator executes the vehicle control command corresponding to the vehicle control information.

6. The method according to any one of claims 1 to 5, characterized in that, The test results corresponding to the test version are determined using the vehicle target algorithm of the second controller, including: Vehicle control information is generated through the vehicle target algorithm of the second controller; The vehicle control information is stored in the second controller to obtain a storage record, and / or the vehicle control information is analyzed to obtain information analysis results; The stored records and / or information analysis results are determined as the algorithm test results corresponding to the test version.

7. The method according to any one of claims 1 to 5, characterized in that, The method further includes: If there is no test version of the vehicle target algorithm, then the current version is determined as the test version of the vehicle target algorithm.

8. A vehicle redundancy control system, characterized in that, The system is applied to a vehicle terminal, which includes multiple area controllers, and includes: An acquisition module is used to acquire a vehicle target algorithm, wherein the vehicle target algorithm has a current version and a test version; The setting module is used to set the current version of the vehicle target algorithm in the first controller and set the test version of the vehicle target algorithm in the second controller, wherein the first controller and the second controller are different area controllers; The first control module is configured to, if the first controller is in normal operating condition, generate vehicle control information for controlling the vehicle terminal using the vehicle target algorithm of the first controller, and determine the algorithm test result corresponding to the test version using the vehicle target algorithm of the second controller. The second control module is used to generate vehicle control information for controlling the vehicle terminal using the vehicle target algorithm of the second controller if the first controller is in a fault state.

9. An electronic device, characterized in that, include: Processor and memory; The memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to cause the electronic device to perform the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 7.

Images