Low-power-consumption and high-robustness whole vehicle dormancy wake-up strategy

Abstract

The application discloses a low-power-consumption high-robustness whole vehicle hibernation wake-up strategy, when a KL30 node based on AUTOSAR network management definition is in a non-power-on state, after its normal power is turned on, the node enters a bus hibernation mode; after entering the bus hibernation mode, when a network request is accepted or a network management frame is successfully received, the node enters a repeated message sending state of a network mode, a TREPEAT_MESSAGE timer and a TNM_TIMEROUT timer are started in this stage; after entering the repeated message sending state, when the TREPEAT_MESSAGE timer is timed out and there is a network request, the node enters a normal execution state, when the TREPEAT_MESSAGE timer is timed out and the network is released, the node enters a ready hibernation state; no matter in which link of the network state, once the TNM_TIMEROUT is timed out, the node enters a pre-hibernation mode, and a TWAIT_BUS_SLEEP timer is started, when the TWAIT_BUS_SLEEP timer is timed out, the node returns to the bus hibernation mode. The novel hibernation wake-up strategy reduces the time and nodes of the whole vehicle network wake-up, reduces the whole vehicle power consumption, and reduces the occurrence of the whole vehicle power loss failure problem.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of big data node state, and particularly relates to a low-power-consumption high-robustness whole vehicle hibernation wake-up strategy. BACKGROUND

[0002] Under the traditional whole vehicle hibernation wake-up strategy technology, the KL30 node and the KL15 node of the whole vehicle adopt different network management strategies. The KL15 node judges the communication self module to be in a communication kernel active state or to enter a communication kernel stop state according to the gear of the whole vehicle. The KL30 node carries out hibernation wake-up according to the network state conversion diagram shown in the following figure, so that the whole vehicle can reduce energy loss and enter a hibernation state under certain conditions, and the node can be woken up within a specified time when the function of a certain demand network is realized.

[0003] This way has two defects, which are

[0004] (1) When a local event occurs in the node and the network needs to be woken up, all network nodes cannot be woken up, which leads to problems such as remote start authentication failure and remote control function failure.

[0005] (2) The network management frame and the application data frame can wake up the KL30 node, the whole vehicle cannot enter the hibernation state under certain conditions, which increases the energy loss and increases the risk of power loss of the whole vehicle. SUMMARY

[0006] This part aims to summarize some aspects of the embodiments of the present application and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this part and the abstract and title of the specification of the present application to avoid obscuring the purpose of this part, the abstract and the title of the specification, and such simplifications or omissions cannot be used to limit the scope of the present application.

[0007] In view of the above and / or existing problems in the low-power-consumption high-robustness whole vehicle hibernation wake-up strategy, the present application is proposed.

[0008] Therefore, the problem to be solved by the present application is

[0009] (1) the network wake-up problem when a local event occurs in the KL30 node;

[0010] (2) optimization of the whole vehicle hibernation wake-up strategy;

[0011] (3) reduction of the risk of power loss of the whole vehicle.

[0012] To solve the above technical problems, the present application provides the following technical scheme: a low-power-consumption high-robustness whole vehicle hibernation wake-up strategy, which comprises,

[0013] When the KL30 node based on the AUTOSAR network management definition is in an unpowered state, after its normal power is turned on, the node enters a bus sleep mode;

[0014] After entering the bus sleep mode, when a network request is accepted or a network management frame is successfully received, the node enters a repeated message sending state in the network mode, and the T REPEAT_MESSAGE imer is started NM_TIMEROUT ;

[0015] When the repeated message sending state is entered, when the T REPEAT_MESSAGE imer expires and there is a network request, the node enters a normal execution state, and when the T REPEAT_MESSAGE imer expires and the network is released, the node enters a ready sleep state;

[0016] No matter in which link of the network state, once the T NM_TIMEROUT imer expires, the node enters a pre-sleep mode, and the T WAIT_BUS_SLEEP imer is started, and when the T WAIT_BUS_SLEEP imer expires, the node returns to the bus sleep mode.

[0017] As a preferred scheme of the low-power high-robustness vehicle sleep wake-up strategy, the network state of the KL30 node based on the AUTOSAR network management definition is divided into three types: a network mode, a pre-sleep mode, and a bus sleep mode, and the network mode is further divided into three states: a repeated message sending state, a normal execution state, and a ready sleep state.

[0018] As a preferred scheme of the low-power high-robustness vehicle sleep wake-up strategy, when the KL30 node is in an unpowered state, after its normal power is turned on, the node enters a bus sleep mode, and when a network request occurs in the bus sleep mode, the node enters a repeated message sending state;

[0019] The node in the bus sleep mode to the repeated message sending state starts the T REPEAT_MESSAGE imer, starts the T NM_TIMEROUT imer, and starts sending a network management frame to the repeated message sending state.

[0020] As a preferred scheme of the low-power high-robustness vehicle sleep wake-up strategy, in the repeated message sending state, if the T REPEAT_MESSAGE imer expires, the node selectively enters a normal execution state or a ready sleep state according to the network state;

[0021] When the T REPEAT_MESSAGE imer expires and there is a network request, the node enters a normal execution state, and when the T REPEAT_MESSAGE imer expires and the network is released, the node enters a ready sleep state;

[0022] When entering normal execution state from repeated message sending state, network management frame is sent.

[0023] When entering ready sleep state from repeated message sending state, network management frame is stopped.

[0024] The network release refers to that all local events of network sleep are satisfied.

[0025] As a preferred scheme of the low-power high-robustness whole vehicle sleep wake-up strategy, the normal execution state and the ready sleep state can be converted at any time, and the conversion condition is network state change.

[0026] When the network release is in the normal execution state, the ready sleep state is entered.

[0027] When the network request appears in the ready sleep state, the normal execution state is entered.

[0028] The network management frame is stopped when the normal execution state enters the ready sleep state.

[0029] The network management frame is started when the ready sleep state enters the normal execution state.

[0030] As a preferred scheme of the low-power high-robustness whole vehicle sleep wake-up strategy, no matter whether the node is in the repeated message sending state, the normal execution state or the ready sleep state of the network mode, once T NM_TIMEROUT timeout, the pre-sleep mode is entered.

[0031] When the network mode enters the pre-sleep mode, the T WAIT_BUS_SLEEP timer is started, and when the T WAIT_BUS_SLEEP timer is timeout, the bus sleep mode is returned.

[0032] As a preferred scheme of the low-power high-robustness whole vehicle sleep wake-up strategy, when the node successfully accepts the network management frame,

[0033] If in the non-network mode, the network management frame is successfully received, the network mode should be entered.

[0034] If in the network mode, the network management frame can be normally received in the repeated message sending state and the normal execution state, and no change is needed.

[0035] If in the network mode, the network management frame is received in the ready sleep state, the network state is not jumped out, and the current state is maintained.

[0036] As a preferred scheme of the low-power-consumption high-robustness whole vehicle hibernation wake-up strategy, the whole vehicle hibernation wake-up strategy flow has three initiators, which are T REPEAT_MESSAGE imer, T NM_TIMEROUT imer and T WAIT_BUS_SLEEP imer, wherein T REPEAT_MESSAGE imer is started when entering the repeated message sending state, T NM_TIMEROUT imer is started when entering and being in the network mode, and T WAIT_BUS_SLEEP imer is started when turning from the network mode to the pre-hibernation mode.

[0037] A computer device comprises a memory and a processor, and the memory stores a computer program, wherein the processor implements the steps of the method when executing the computer program.

[0038] A computer readable storage medium stores a computer program, wherein the computer program is executed by a processor to implement the steps of the method.

[0039] The present application has the following advantages

[0040] First, the novel whole vehicle hibernation wake-up strategy has good robustness, solves various problems such as authentication failure and remote control function failure caused by abnormal network wake-up of the whole vehicle, and greatly guarantees the communication stability of the networked vehicle.

[0041] Second, the novel hibernation wake-up strategy reduces the time and nodes of the whole vehicle network wake-up, reduces the power consumption of the whole vehicle, and reduces the occurrence of the whole vehicle power loss failure. DETAILED DESCRIPTION

[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor. Among them:

[0043] Figure 1 It is the network state conversion diagram of the low-power-consumption high-robustness whole vehicle hibernation wake-up strategy in embodiment 1.

[0044] Figure 2 It is the repeated message sending state fast sending mechanism diagram of the low-power-consumption high-robustness whole vehicle hibernation wake-up strategy in embodiment 2.

[0045] Figure 3 It is the traditional whole vehicle hibernation wake-up strategy diagram of the low-power-consumption high-robustness whole vehicle hibernation wake-up strategy in embodiment 4. DETAILED DESCRIPTION

[0046] In order to make the above objectives, features and advantages of the present application more clear and easily understood, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0047] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one skilled in the art that the present application can be practiced without the specific details given below. In other instances, well-known methods have not been described in detail in order to avoid unnecessarily complicating the present application. Accordingly, the present application is not limited to the embodiments given below but can be practiced with the limits of the claims and with variations of the embodiments.

[0048] Secondly, the "one embodiment" or "embodiment" referred to herein means that the specific features, structures or characteristics can be included in at least one implementation of the present application. "In one embodiment" appearing in different places in the specification does not mean the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments.

[0049] Embodiment 1

[0050] Reference Figure 1 For the first embodiment of the present application, the embodiment provides a low-power high-robustness vehicle hibernation wake-up strategy, a low-power high-robustness vehicle hibernation wake-up strategy includes

[0051] As shown in Figure 1 When the KL30 node based on AUTOSAR network management definition is in an unpowered state, after turning on its normal power, the node enters a bus hibernation mode;

[0052] After entering the bus hibernation mode, when receiving a network request or successfully receiving a network management frame, enter the repeated message sending state of the network mode, this stage will start T REPEAT_MESSAGE timer and T NM_TIMEROUT timer;

[0053] When entering the repeated message sending state, when T REPEAT_MESSAGE timer expires and there is a network request, enter the normal execution state, when T REPEAT_MESSAGE timer expires and the network is released, enter the ready hibernation state;

[0054] No matter which link in the network state, once T NM_TIMEROUT expires, enter the pre-hibernation mode, and start T WAIT_BUS_SLEEP timer, when T WAIT_BUS_SLEEP timer expires, return to the bus hibernation mode.

[0055] The network state of the KL30 node based on the AUTOSAR network management definition is divided into three categories: network mode, pre-sleep mode and bus sleep mode, wherein the network mode is further divided into three states: repeated message sending state, normal execution state and ready sleep state.

[0056] When the KL30 node is in the unpowered state, after turning on the normal power, the node enters the bus sleep mode. When a network request occurs in the bus sleep mode, the node enters the repeated message sending state.

[0057] The node in the bus sleep mode to the repeated message sending state starts the T REPEAT_MESSAGE timer, starts the T NM_TIMEROUT timer and starts sending network management frames to the repeated message sending state.

[0058] In the repeated message sending state, if the T REPEAT_MESSAGE timer expires, the node selectively enters the normal execution state or the ready sleep state according to the network state;

[0059] When the T REPEAT_MESSAGE timer expires and there is a network request, the node enters the normal execution state. When the T REPEAT_MESSAGE timer expires and the network is released, the node enters the ready sleep state.

[0060] When entering the normal execution state from the repeated message sending state, the node sends network management frames.

[0061] When entering the ready sleep state from the repeated message sending state, the node stops sending network management frames.

[0062] The network release refers to that all local events of network sleep are satisfied.

[0063] The normal execution state and the ready sleep state can be converted at any time, and the conversion condition is the change of the network state,

[0064] When the network is released in the normal execution state, the node enters the ready sleep state.

[0065] When a network request occurs in the ready sleep state, the node enters the normal execution state.

[0066] When the normal execution state enters the ready sleep state, the node stops sending network management frames.

[0067] When the ready sleep state enters the normal execution state, the node starts sending network management frames.

[0068] Regardless of whether the node is in the repeated message sending state, the normal execution state or the ready sleep state in the network mode, once the T NM_TIMEROUT timer expires, the node enters the pre-sleep mode.

[0069] The network mode enters the pre-sleep mode, and T WAIT_BUS_SLEEP timer is started, when T WAIT_BUS_SLEEP timer expires, the bus sleep mode is returned.

[0070] Network management switching conditions:

[0071] Table 1 Network management switching conditions

[0072]

[0073] Network management switching behavior:

[0074] Table 2 Network management switching behavior

[0075] Behavior Number Description A0 Network management initialization A1 start T REPEAT_MESSAGE timer Started when entering the repeat message transmission state A2 start T NM_TIMEROUT timer Started when entering and being in network mode A3 start T WAIT_BUS_SLEEP timer Started when going from network mode to pre-hibernation mode A4 Start of network management frame transmission A5 Stop of network management frame transmission A6 Entry into bus hibernation mode

[0076] When the node successfully accepts the network management frame

[0077] If in the non-network mode, successfully receiving the network management frame, should enter the network mode;

[0078] If in the network mode, in the repeated message sending state and the normal execution state, it can normally receive the network management frame, and there is no change;

[0079] If in the network mode, in the ready sleep state, receiving the network management frame, does not jump out of the network state, maintains the current state.

[0080] The whole vehicle sleep wake-up strategy process has three starters, which are T REPEAT_MESSAGE timer, T NM_TIMEROUT timer and T WAIT_BUS_SLEEP timer, wherein T REPEAT_MESSAGE timer is started when entering the repeated message sending state, T NM_TIMEROUT timer is started when entering and being in the network mode, and T WAIT_BUS_SLEEP timer is started when turning from the network mode to the pre-sleep mode.

[0081] Embodiment 2

[0082] Referring to Figure 2 The second embodiment of the application is different from the first embodiment in that it further includes an embodiment for realizing the beneficial effects of the new technology. In the previous embodiment, a low-power high-robustness whole vehicle sleep wake-up strategy includes

[0083] The repeated message sending state and the fast sending mechanism are added on the basis of the original communication strategy, and the definition that the original application data frame will also wake up the KL30 node is cancelled.

[0084] (1) Repeated message sending state

[0085] The repeat message sending state is used to ensure that other nodes in the network can detect any transition from the bus sleep mode or pre-sleep mode to the network mode, and defines the minimum time for which the node remains in the active state. The node should restart sending network management frames when entering the repeat message sending state from the bus sleep mode or pre-sleep mode. When the TNM_TimeOut timer expires in the repeat message sending state, the node should restart the TNM_TimeOut timer. The repeat message sending timer should be started immediately after the node enters the repeat message sending state. If the node still requests the network after the timer expires, the node should enter the normal execution state; if the node releases the network, the node should enter the ready sleep state.

[0086] (2) Fast sending mechanism

[0087] The fast sending mechanism is used for the node to quickly wake up the bus and restore communication as soon as possible. If the node enters the repeat message sending state due to a request for the network, the node should immediately start sending network management frames and start the fast sending mechanism. At this time, the node should send 10 consecutive network management frames at a period of 20 ms (for example, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10). Figure 3 When all the fast-sent network management frames are sent, the node should start sending network management frames at a normal period of 1S. If the node enters the repeat message sending state due to receiving a network management frame, the node should immediately start sending network management frames. At this time, the fast sending mechanism is not triggered, and there is only one network management frame in the repeat message sending state.

[0088] As shown in Figure 2 , the KL30 node wake-up problem is avoided by adding the repeat message sending state and the fast sending mechanism, and the problems of authentication failure and inability to implement remote control functions are solved.

[0089] (3) Cancel the definition of the application data frame to wake up the KL30 node

[0090] The original strategy network management frame, application data frame, and diagnostic message frame can all wake up the KL30 node to enter the communication kernel active state. The change is that only the network management frame and the diagnostic message frame can wake up the KL30 node. This reduces the time for the KL30 node communication kernel of the whole vehicle to be activated, greatly reduces the consumption of the battery power of the whole vehicle, and reduces the occurrence of the problem of power loss of the whole vehicle.

[0091] Embodiment 3

[0092] The third embodiment of the present application is different from the first two embodiments in that:

[0093] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or the parts of the technical solutions that essentially contribute to the prior art or the parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0094] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a list of executable instructions for implementing logic functions, which can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus or device, such as a computer-based system, a system including a processor or other system that can fetch the instructions from the instruction execution system, apparatus or device and execute the instructions, or in conjunction with these instructions execution systems, apparatus or devices. For the purpose of this specification, the "computer-readable medium" can be any device that can contain, store, communicate, propagate or transport programs for use by or in connection with an instruction execution system, apparatus or device, or in conjunction with these instruction execution systems, apparatus or devices.

[0095] More specific examples (a non-exhaustive list) of the computer-readable medium include the following: an electrical connection having one or more wires (electrical devices), a portable computer diskette (magnetic devices), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium can even be paper or other suitable medium on which the program can be printed, because the program can be electronically obtained, for example, by optical scanning of the paper or other medium, followed by editing, interpreting or otherwise processing, if necessary, in other suitable ways, to be electronically obtained and then stored in the computer memory.

[0096] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0097] Example 4

[0098] Reference Figure 3 This is the fourth embodiment of the present invention, which differs from the previous three embodiments in that:

[0099] First, let's list the traditional vehicle sleep / wake-up strategies, their structure as follows: Figure 3 As shown, the principle lies in the fact that the KL30 node and the KL15 node of the vehicle adopt different network management strategies. The KL15 node determines whether its communication module should be in an active or stopped state based on the vehicle's gear position. The KL30 node, on the other hand, performs hibernation and wake-up according to the network state transition diagram below, enabling the vehicle to enter a hibernation state to reduce energy consumption under certain conditions, and to wake up the node within a specified time when certain network functions are required.

[0100] Event 1: The node's constant power (KL30) is switched on;

[0101] Event 2: The node detects any local event that maintains network communication or any network management frame or diagnostic message on the bus within 8 seconds;

[0102] Event 3: The communication enable timer inside the node times out (i.e., no network management frames or diagnostic messages are transmitted on the network for 8 consecutive seconds, including any network management frames or diagnostic messages received by the node, as well as network management frames (regardless of whether they were successfully sent) or diagnostic messages sent out by the node).

[0103] Event 4: The node detects any local event that wakes up network communication, or the appearance of a network management frame, application data frame, or diagnostic message on the bus;

[0104] Event 5: The node's constant power (KL30) power supply is disconnected.

[0105] Our invented vehicle hibernation / wake-up strategy can be referenced. Figure 1As shown, the principle lies in adding repeated message sending state and fast sending mechanism on the basis of original communication strategy, and canceling the definition that original application data frame will also wake up KL30 node.

[0106] The two comparisons can obviously find the advantages of the present application,

[0107] 1. By adding repeated message sending state and fast sending mechanism, the KL30 node wake-up problem is avoided, and problems such as authentication failure and remote control function failure are solved.

[0108] 2. The activation time of the whole vehicle KL30 node communication kernel is reduced, the consumption of the whole vehicle battery power is greatly reduced, and the problem of the whole vehicle power loss is reduced.

[0109] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not limited. Although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the present application, and they should be covered in the scope of the claims of the present application.

Claims

1. A low-power high-robustness vehicle hibernation wake-up strategy, characterized in that: when the KL30 node based on the AUTOSAR network management definition is in an unpowered state, after turning on its normal power, the node enters the bus hibernation mode; the network state of the KL30 node based on the AUTOSAR network management definition is divided into three types: network mode, pre-hibernation mode, and bus hibernation mode, wherein the network mode is further divided into three states: repeated message sending state, normal execution state, and ready hibernation state; when the KL30 node is in an unpowered state, after turning on its normal power, the node enters the bus hibernation mode, and when a network request occurs in the overall hibernation mode, the node enters the repeated message sending state; when entering the normal execution state from the repeated message sending state, a network management frame is sent; when entering the ready hibernation state from the repeated message sending state, the sending of network management frames is stopped; the network release refers to the fact that all local events of network sleep are met; if the node enters the repeated message sending state due to a network request, the node immediately starts sending network management frames and starts the fast sending mechanism, at this time the node sends 10 consecutive network management frames at a period of 20 ms, and when all fast-sent network management frames are sent, the node should start sending network management frames at a normal period of 1S; if the node enters the repeated message sending state due to receiving a network management frame, the node immediately starts sending network management frames, at this time the fast sending mechanism is not triggered, and only one network management frame is sent in the repeated message sending state; the normal execution state and the ready hibernation state can be converted at any time, and the conversion condition is network state change, when the network release occurs in the normal execution state, the ready hibernation state is entered; when a network request occurs in the ready hibernation state, the normal execution state is entered; the sending of network management frames is stopped when the normal execution state enters the ready hibernation state; the sending of network management frames is started when the ready hibernation state enters the normal execution state; when the node successfully accepts a network management frame, if it is in a non-network mode, the node should enter the network mode after successfully receiving the network management frame; if it is in the network mode, in the repeated message sending state and the normal execution state, the node normally receives the network management frame and there is no change; if it is in the network mode, in the ready hibernation state, the node receives the network management frame and does not jump out of the network state, maintaining the current state; the processor implements the steps of the hibernation wake-up strategy of any one of claims 1-5 when executing the computer program; the computer program is executed by the processor to implement the steps of the hibernation wake-up strategy of any one of claims 1-5. ​ When entering the bus sleep mode and receiving a network request or successfully receiving a network management frame, the device enters a repeated message sending state in the network mode, and the T REPEAT_MESSAGE timer is started. NM_TIMEROUT timer is started. When entering the repeated message sending state, when T REPEAT_MESSAGE timer expires and there is a network request, enter the normal execution state, when T REPEAT_MESSAGE timer expires and the network is released, enter the ready sleep state; At any point in the network state, once T NM_TIMEROUT timeout, enter pre-sleep mode and start T WAIT_BUS_SLEEP timer, when T WAIT_BUS_SLEEP timer expires, return to bus sleep mode; ​ ​ The node starts T REPEAT_MESSAGE timer, start T NM_TIMEROUT timer and start sending network management frames to the repetitive message sending state; In the repeated message sending state, if T REPEAT_MESSAGE timer expires, it will selectively enter the normal execution state or the ready sleep state according to the network state; When T REPEAT_MESSAGE timer expires and there is a network request, enter normal execution state, when T REPEAT_MESSAGE timer expires and network is released, enter ready sleep state; ​ ​ ​ ​ ​ 2. The low power consumption and high robustness vehicle hibernation wake-up strategy according to claim 1, characterized in that: ​ ​ ​ ​ ​ 3. The low power consumption and high robustness vehicle hibernation wake-up strategy according to claim 2, characterized in that: Regardless of the node is in the network mode of repeated message sending state, normal execution state or ready sleep state, once T NM_TIMEROUT timeout, enter pre-sleep mode; The network mode enters a pre-sleep mode, and starts a T WAIT_BUS_SLEEP timer. When the T WAIT_BUS_SLEEP timer expires, it returns to the bus sleep mode.

4. The low power consumption and high robustness vehicle hibernation wake-up strategy according to claim 3, characterized in that: ​ ​ ​ ​ 5. A low power consumption and high robustness vehicle hibernate wake-up strategy according to any one of claims 1, 3 and 4, characterized in that: The whole vehicle hibernation wake-up strategy flow has three initiators, which are T REPEAT_MESSAGE imer, T NM_TIMEROUT imer and T WAIT_BUS_SLEEP imer, wherein T REPEAT_MESSAGE imer is started when entering the repeated message sending state, T NM_TIMEROUT imer is started when entering and being in the network mode, T WAIT_BUS_SLEEP imer is started when turning from the network mode to the pre-hibernation mode. 6.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is configured to perform the method according to any one of claims 1-5 when the computer program is executed by the processor. ​ 7. A computer readable storage medium having stored thereon a computer program, characterized in that, ​

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