Method and device for determining control instructions based on a computing platform, equipment and storage medium

Abstract

This disclosure relates to the field of autonomous driving for vehicles, and provides a method, apparatus, device, and storage medium for determining control commands based on a computing platform. The method includes: acquiring first heartbeat packet data sent from a primary computing platform to a backup computing platform and second heartbeat packet data sent from the backup computing platform to the primary computing platform based on a determined target heartbeat transmission cycle; monitoring the heartbeat online status and control command online status of the backup computing platform based on the current activation status of the primary computing platform; and determining whether the primary computing platform and the backup computing platform have achieved automatic switching based on the current activation status of the primary computing platform, the first heartbeat packet data, the second heartbeat packet data, the heartbeat online status of the backup computing platform, and the control command online status of the backup computing platform, and sending chassis control commands based on the automatic switching result. This disclosure enables automatic computing platform switching between the primary and backup computing platforms.

Description

Technical Field

[0001] This disclosure relates to the field of autonomous driving of vehicles, specifically to methods, devices, equipment, and storage media for determining control commands based on a computing platform. Background Technology

[0002] In autonomous driving systems, the computing platform acts as the "brain" and "computing center," responsible for aggregating information from sensors, chassis status, and human intervention commands. It then makes vehicle decisions and calculates chassis control commands, which are executed by the various actuators of the drive-by-wire chassis. Ultimately, this achieves vehicle control and completes the autonomous driving task. Therefore, the importance of the computing platform to the entire autonomous driving system is self-evident.

[0003] In actual closed-loop unmanned operation scenarios, the working environment for engineering vehicles is much harsher and more complex than that for passenger vehicles: there is more dust, more extreme weather, and greater humidity fluctuations. This significantly increases the likelihood of the computing platform malfunctioning compared to passenger vehicles. Once the computing platform fails, it means that the autonomous driving system has lost its "brain" and is out of control, which may lead to unpredictable consequences and seriously affect the safety and stability of the autonomous driving system.

[0004] In current technologies that utilize computing platforms for vehicle driving control, multiple computing platforms are connected to a single CAN bus to communicate with the chassis controller. For example, two computing platforms may communicate with the chassis controller via separate CAN buses. In this case, switching between computing platforms is achieved by switching hardware communication links. This method requires the chassis controller to support N CAN communication lines (because the chassis controller needs to be connected to N computing platforms), increasing hardware costs. Furthermore, the simultaneous transmission and reception of N CAN data lines by the computing platforms increases the complexity of the hardware architecture and internal software logic. Additionally, the connection of each computing platform to a single CAN bus can lead to the simultaneous transmission of the same CAN message ID, causing message conflicts and bus crashes. Additionally, during handshake switching between computing platforms, excessively long pauses in control command transmission can trigger the chassis controller's parking protection logic, resulting in vehicle jerking and discontinuity during controller switching. Summary of the Invention

[0005] In view of this, this disclosure provides a method, apparatus, device and storage medium for determining control instructions based on a computing platform, in order to solve the problems in related technologies where the hardware structure is complex, messages are prone to conflict, leading to bus crashes and discontinuous vehicle jerking during handshake switching between computing platforms.

[0006] In a first aspect, this disclosure provides a method for determining control instructions based on a computing platform, the method comprising:

[0007] Based on a defined target heartbeat sending cycle, the first heartbeat packet data sent from the main computing platform to the backup computing platform and the second heartbeat packet data sent from the backup computing platform to the main computing platform are obtained. The main computing platform and the backup computing platform include multiple platforms.

[0008] Based on the current activation status of the main computing platform, monitor the heartbeat online status and the control command online status of the backup computing platform.

[0009] Based on the current activation status of the main computing platform, the first heartbeat packet data, the second heartbeat packet data, the heartbeat online status of the backup computing platform, and the control command online status of the backup computing platform, determine whether the main computing platform and the backup computing platform can automatically switch over, and send chassis control commands based on the automatic switching result.

[0010] In this embodiment, the first heartbeat packet data sent by the main computing platform to the backup computing platform and the second heartbeat packet data sent by the backup computing platform to the main computing platform are obtained according to the target heartbeat transmission cycle. Then, based on the current activation state of the main computing platform, the monitored heartbeat online status of the backup computing platform, and the online status of the control commands of the backup computing platform, the computing platform switching between the main computing platform and the backup computing platform is realized. Chassis control commands are sent to the vehicle according to the platform switching result. This avoids bus abnormalities caused by multiple computing platforms sending the same CAN message ID at the same time. Moreover, it can realize computing platform switching based on a single CAN, reducing computing platform hardware requirements, reducing costs, reducing system complexity, and solving the problems of complex hardware structure, easy conflict between messages, bus crashes, and discontinuous vehicle jerking during handshake switching between computing platforms in related technologies.

[0011] In one optional implementation, based on the current activation status of the main computing platform, the first heartbeat packet data, the second heartbeat packet data, the heartbeat online status of the backup computing platform, and the control command online status of the backup computing platform, it is determined whether the main computing platform and the backup computing platform have achieved automatic switching, and chassis control commands are sent according to the automatic switching result, including:

[0012] If it is determined that the main computing platform is currently inactive and no heartbeat information or control command message is detected from the backup computing platform, a bus preemption request message is sent to stop the main computing platform and the backup computing platform from sending control command messages. The heartbeat information of the backup computing platform is determined based on the heartbeat online status of the backup computing platform, and the control command message sent by the backup computing platform is determined based on the control command online status of the backup computing platform.

[0013] After the preemption time corresponding to the bus preemption request information exceeds the preset threshold, the main computing platform is activated, and chassis control commands are sent using the main computing platform.

[0014] In this embodiment of the disclosure, when the main computing platform is currently inactive and no heartbeat information of the backup computing platform is detected, and no control command message is issued by the backup computing platform, the bus abnormality caused by the main computing platform and the backup computing platform simultaneously sending the same CAN message ID is avoided. At this time, a bus preemption request message is sent, and then the activation object is determined according to the bus preemption request message to realize automatic switching between computing platforms.

[0015] In an alternative implementation, after determining that the main computing platform is currently inactive, the method further includes:

[0016] If heartbeat information from the backup computing platform is detected but no bus preemption request information is detected, the risk level of the main computing platform is determined based on the first heartbeat packet data, and the risk level of the backup computing platform is determined based on the second heartbeat packet data.

[0017] The activation result for the main computing platform is determined based on the risk levels of the primary computing platform and the backup computing platform.

[0018] The automatic switching result is determined based on the activation result, and chassis control commands are sent based on the automatic switching result.

[0019] In this embodiment of the disclosure, after the heartbeat information of the backup computing platform can be detected, the active computing platform is determined according to the risk level of the main computing platform and the backup computing platform, thereby realizing automatic switching between the computing platforms.

[0020] In one optional implementation, the activation result of the main computing platform is determined based on the risk level of the main computing platform and the risk level of the backup computing platform, including:

[0021] When the risk level of the primary computing platform is lower than that of the backup computing platform, determine whether a handshake response signal is received after the primary computing platform sends the first heartbeat packet data to the backup computing platform.

[0022] If a handshake response signal is received, the main computing platform is activated;

[0023] If the risk level of the primary computing platform is greater than or equal to the risk level of the backup computing platform, the primary computing platform remains inactive.

[0024] In one alternative implementation, the method further includes:

[0025] Once it is determined that the main computing platform is currently active, check whether a handshake communication request has been received within the second heartbeat packet data;

[0026] After receiving the handshake communication request, the main computing platform exits the active state and sends a response signal to the backup computing platform, achieving automatic switching with the backup computing platform and using the backup computing platform to send chassis control commands.

[0027] In this embodiment of the disclosure, when the main computing platform is currently active, the handshake communication result with the backup computing platform is determined, thereby realizing automatic switching between the main computing platform and the backup computing platform. The backup computing platform sends chassis control commands to realize computing platform switching based on one CAN, reducing computing platform hardware requirements, reducing costs, and reducing system complexity.

[0028] In one optional implementation, before acquiring the first heartbeat packet data sent from the primary computing platform to the backup computing platform and the second heartbeat packet data sent from the backup computing platform to the primary computing platform based on a determined target heartbeat sending period, the method further includes:

[0029] Acquire multiple primary computing platforms and multiple backup computing platforms, where the backup computing platforms are backup objects of the primary computing platforms;

[0030] The initial heartbeat sending period is determined based on the associated parameters of the computing platform. The initial heartbeat sending period is the time period during which the primary computing platform and the backup computing platform send heartbeat packet data to each other.

[0031] The actual duration of the handshake communication between the main computing platform and the backup computing platform is determined based on the time period of the heartbeat packet data.

[0032] Adjust the initial heartbeat sending period based on the actual duration to determine the target heartbeat sending period.

[0033] In this embodiment of the disclosure, the initial heartbeat sending period for the primary computing platform and the backup computing platform to send heartbeat data to each other is determined based on some associated parameters of the computing platform. Then, the initial heartbeat sending period is adjusted based on the actual duration of the handshake communication between the primary computing platform and the backup computing platform to obtain the target heartbeat sending period. This adaptive calculation and adjustment of the heartbeat data sending period ensures the smoothness of the switch between the primary computing platform and the backup computing platform.

[0034] In one optional implementation, the associated parameters include: security policy protection startup duration, logic processing cycle, control command message transmission cycle, and adjustment coefficient. The initial heartbeat transmission cycle is adjusted according to the actual duration, and the target heartbeat transmission cycle is determined, including:

[0035] If the actual duration is greater than or equal to the security policy protection start-up duration, the adjustment coefficient is adjusted. The target heartbeat sending period is determined based on the security policy protection start-up duration, logic processing cycle, control command message sending cycle, and the adjusted adjustment coefficient.

[0036] In this embodiment of the disclosure, by adjusting the adjustment coefficient within the associated parameters, the adjustment coefficient is minimized while ensuring that the computing platform can switch normally and does not trigger the VCU (Vehicle Control Unit) safety policy. This reduces the bus load, ensuring the smoothness of the switch between the main computing platform and the backup computing platform, and minimizing the bus load rate.

[0037] Secondly, this disclosure provides a device for determining control commands based on a computing platform, the device comprising:

[0038] The first acquisition module is used to acquire the first heartbeat packet data sent by the main computing platform to the backup computing platform and the second heartbeat packet data sent by the backup computing platform to the main computing platform based on a determined target heartbeat sending cycle. The main computing platform and the backup computing platform include multiple platforms.

[0039] The monitoring module is used to monitor the heartbeat online status and control command online status of the backup computing platform based on the current activation status of the main computing platform.

[0040] The first determining module is used to determine whether the main computing platform and the backup computing platform have achieved automatic switching based on the current activation status of the main computing platform, the first heartbeat packet data, the second heartbeat packet data, the heartbeat online status of the backup computing platform, and the control command online status of the backup computing platform, and to send chassis control commands based on the automatic switching result.

[0041] Thirdly, this disclosure provides a computer device, including: a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to perform the method for determining control instructions based on a computing platform as described in the first aspect or any corresponding embodiment.

[0042] Fourthly, this disclosure provides a computer-readable storage medium storing computer instructions, which are used to cause a computer to execute the computing platform-based control instruction determination method of the first aspect or any corresponding embodiment thereof. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the specific embodiments of this disclosure or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0044] Figure 1 This is a flowchart illustrating a method for determining control commands based on a computing platform according to some embodiments of the present disclosure;

[0045] Figure 2 This is a schematic diagram of a hardware framework according to some embodiments of the present disclosure;

[0046] Figure 3 This is a flowchart of a risk level assessment process for a computing platform based on some embodiments of this disclosure;

[0047] Figure 4 This is an overall flowchart of the computing platform switching logic according to some embodiments of this disclosure;

[0048] Figure 5 This is a structural block diagram of a computing platform-based control instruction determination device according to some embodiments of the present disclosure;

[0049] Figure 6 This is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present disclosure. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0051] In actual closed-loop unmanned operation scenarios, the working environment for engineering vehicles is much harsher and more complex than that for passenger vehicles: there is more dust, more extreme weather, and greater humidity fluctuations. This significantly increases the likelihood of the computing platform malfunctioning compared to passenger vehicles. Once the computing platform fails, it means that the autonomous driving system has lost its "brain" and is out of control, which may lead to unpredictable consequences and seriously affect the safety and stability of the autonomous driving system.

[0052] In current technologies that utilize computing platforms for vehicle driving control, multiple computing platforms are connected to a single CAN bus to communicate with the chassis controller. This approach increases hardware costs and processing complexity, potentially leading to simultaneous transmission of the same CAN message ID, causing message conflicts and bus crashes. Furthermore, prolonged pauses in control command transmission during handshake transitions between computing platforms can trigger the chassis controller's parking protection logic, resulting in vehicle jerking and discontinuity during controller switching.

[0053] To address the aforementioned problems, according to embodiments of this disclosure, a method for determining control instructions based on a computing platform is provided. It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowcharts, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0054] This embodiment provides a method for determining control commands based on a computing platform. Figure 1 This is a flowchart of a method for determining control commands based on a computing platform according to an embodiment of the present disclosure, such as... Figure 1 As shown, this method can be applied to the computing platform system side, and the method may include the following steps:

[0055] Step S101: Based on the determined target heartbeat sending cycle, obtain the first heartbeat packet data sent by the main computing platform to the backup computing platform and the second heartbeat packet data sent by the backup computing platform to the main computing platform, wherein there are multiple main computing platforms and backup computing platforms.

[0056] Optionally, in this embodiment of the disclosure, it is necessary to obtain the transmission period of the first heartbeat packet data sent by the primary computing platform to the backup computing platform and the second heartbeat packet data sent by the backup computing platform to the primary computing platform, which is referred to here as the target heartbeat transmission period. Furthermore, it should be understood that in this embodiment of the disclosure, there can be multiple primary computing platforms and multiple backup computing platforms.

[0057] like Figure 2 As shown, taking a main computing platform and a backup computing platform as an example, the two computing platforms control the drive-by-wire chassis VCU (Vehicle Control Unit) through a CAN bus. The two computing platforms can operate independently in single computing platform mode or in a dual-redundancy mode. In single computing platform mode, the computing platform works by default without computing platform switching function. This embodiment operates in dual-redundancy mode.

[0058] Step S102: Based on the current activation status of the main computing platform, monitor the heartbeat online status and the control command online status of the backup computing platform.

[0059] Optionally, the current activation status of the main computing platform is obtained, and the computing platform system monitors the heartbeat online status and control command online status of the backup computing platform based on the current activation status of the main computing platform.

[0060] Among them, the heartbeat online status determines whether the backup computing platform has sent a heartbeat message within a set time. If the heartbeat is offline for a time T... e =kT, where k≥2 indicates a heartbeat timeout and offline status. Here, k is an adjustable coefficient, and T is the adaptively calculated heartbeat packet data transmission period, which can be the target heartbeat transmission period. The control command online status is the VCU control command status issued by the backup computing platform on the CAN bus. When the control command is offline for time T... ce =mT c When m ≥ 2, the control command is considered offline, where m is an adjustable coefficient, and T c To control the frequency of command message transmission.

[0061] Step S103: Based on the current activation status of the main computing platform, the first heartbeat packet data, the second heartbeat packet data, the heartbeat online status of the backup computing platform, and the control command online status of the backup computing platform, determine whether the main computing platform and the backup computing platform have achieved automatic switching, and send chassis control commands according to the automatic switching result.

[0062] Optionally, after obtaining the current activation status of the main computing platform, the first heartbeat packet data, the second heartbeat packet data, the heartbeat online status of the backup computing platform, and the control command online status of the backup computing platform, the computing platform switching result between the main computing platform and the backup computing platform can be obtained, and then the target to send the chassis control command can be determined based on the switching result.

[0063] In this embodiment, the first heartbeat packet data sent by the main computing platform to the backup computing platform and the second heartbeat packet data sent by the backup computing platform to the main computing platform are obtained according to the target heartbeat transmission cycle. Then, based on the current activation state of the main computing platform, the monitored heartbeat online status of the backup computing platform, and the online status of the control commands of the backup computing platform, the computing platform switching between the main computing platform and the backup computing platform is realized. Chassis control commands are sent to the vehicle according to the platform switching result. This avoids bus abnormalities caused by multiple computing platforms sending the same CAN message ID at the same time. Moreover, it can realize computing platform switching based on a single CAN, reducing computing platform hardware requirements, reducing costs, reducing system complexity, and solving the problems of complex hardware structure, easy conflict between messages, bus crashes, and discontinuous vehicle jerking during handshake switching between computing platforms in related technologies.

[0064] In some optional implementations, before acquiring the first heartbeat packet data sent from the primary computing platform to the backup computing platform and the second heartbeat packet data sent from the backup computing platform to the primary computing platform based on a determined target heartbeat sending period, the method further includes:

[0065] Acquire multiple primary computing platforms and multiple backup computing platforms, where the backup computing platforms are backup objects of the primary computing platforms;

[0066] The initial heartbeat sending period is determined based on the associated parameters of the computing platform. The initial heartbeat sending period is the time period during which the primary computing platform and the backup computing platform send heartbeat packet data to each other.

[0067] The actual duration of the handshake communication between the main computing platform and the backup computing platform is determined based on the time period of the heartbeat packet data.

[0068] Adjust the initial heartbeat sending period based on the actual duration to determine the target heartbeat sending period.

[0069] Optionally, this embodiment of the disclosure is described using a dual-redundancy mode for computing platform switching as an example. Further, multiple primary computing platforms and multiple backup computing platforms are first obtained, wherein the backup computing platforms are backup objects of the primary computing platforms, and the database content they record is consistent with that of the primary computing platforms.

[0070] Based on the relevant parameters required by the computing platform (or computing platform system), such as: VCU security policy protection startup time T max The current software module's logic processing cycle T l Control command message sending period T c This allows us to obtain the time period for the primary computing platform and the backup computing platform to send heartbeat data to each other, i.e., the initial heartbeat sending period T:

[0071] T = (T max -2T l -T c ) / (2+n)T≥T l n≥1

[0072] Where n represents the adjustment system, and the initial value of n is set to 1.

[0073] The initial value of n is set to 1, resulting in an initial heartbeat transmission period T. When the primary computing platform detects a heartbeat message from another backup computing platform, the primary computing platform sends a self-test "start" flag at the agreed-upon position in the heartbeat message, and records the current time T. start After receiving the "Start" flag, the backup computing platform replies with a "Received" flag. When the default primary computing platform receives the "Received" flag, it records the current time as T. end Then the actual duration of the handshake communication can be calculated as follows:

[0074] T real =T end -T start +T c

[0075] Based on the comparison between the actual handshake communication duration and the VCU security policy protection activation time, the initial heartbeat transmission period T is adjusted, thereby determining the target heartbeat transmission period T. last .

[0076] In this embodiment of the disclosure, the initial heartbeat sending period for the primary computing platform and the backup computing platform to send heartbeat data to each other is determined based on some associated parameters of the computing platform. Then, the initial heartbeat sending period is adjusted based on the actual duration of the handshake communication between the primary computing platform and the backup computing platform to obtain the target heartbeat sending period. This adaptive calculation and adjustment of the heartbeat data sending period ensures the smoothness of the switch between the primary computing platform and the backup computing platform.

[0077] In some optional implementations, the associated parameters include: security policy protection startup duration, logic processing cycle, control command message transmission cycle, and adjustment coefficient. The initial heartbeat transmission cycle is adjusted according to the actual duration to determine the target heartbeat transmission cycle, including:

[0078] If the actual duration is greater than or equal to the security policy protection start-up duration, the adjustment coefficient is adjusted. The target heartbeat sending period is determined based on the security policy protection start-up duration, logic processing cycle, control command message sending cycle, and the adjusted adjustment coefficient.

[0079] Optionally, if T real ≥T maxThis indicates that the actual duration of the handshake communication exceeded the VCU security policy protection startup time, which may trigger the main computing platform and the backup computing platform to simultaneously issue VCU security policy control commands, leading to system crash. In this case, adjust the adjustment coefficient n, for example, set n = n + 1, and recalculate and adjust the initial heartbeat sending period to obtain a new heartbeat sending period T. n Typically, the primary computing platform sends a "complete" flag to the backup computing platform and sends a new heartbeat transmission cycle T. n After the backup computing platform receives the "complete" flag, it sets a new heartbeat sending cycle T. n Then, the backup computing platform sends a self-test "start" flag to begin, recording the current time as the new T. start After the primary computing platform receives the "Start" flag, it replies with a "Received" flag. When the backup computing platform receives the "Received" flag, it records the current time as the new T. end Then put the new T start T end Substituting the values ​​into the formula for calculating the actual duration of the handshake communication, the system performs a loop self-check until T. real <T max The final target heartbeat transmission period T is obtained. last In this embodiment of the disclosure, under the premise of ensuring normal switching between the main computing platform and the backup computing platform and not triggering the VCU security policy, a smaller value for n can reduce the bus load rate.

[0080] In this embodiment of the disclosure, by adjusting the adjustment coefficient within the associated parameters, the adjustment coefficient is minimized while ensuring that the computing platform can switch normally and does not trigger the VCU (Vehicle Control Unit) safety policy. This reduces the bus load, ensuring the smoothness of the switch between the main computing platform and the backup computing platform, and minimizing the bus load rate.

[0081] In some optional implementations, based on the current activation status of the main computing platform, the first heartbeat packet data, the second heartbeat packet data, the heartbeat online status of the backup computing platform, and the control command online status of the backup computing platform, it is determined whether the main computing platform and the backup computing platform have achieved automatic switching, and chassis control commands are sent according to the automatic switching result, including:

[0082] If it is determined that the main computing platform is currently inactive and no heartbeat information or control command message is detected from the backup computing platform, a bus preemption request message is sent to stop the main computing platform and the backup computing platform from sending control command messages. The heartbeat information of the backup computing platform is determined based on the heartbeat online status of the backup computing platform, and the control command message sent by the backup computing platform is determined based on the control command online status of the backup computing platform.

[0083] After the preemption time corresponding to the bus preemption request information exceeds the preset threshold, the main computing platform is activated, and chassis control commands are sent using the main computing platform.

[0084] Optionally, the computing platform system needs to broadcast heartbeat packet data on the CAN bus according to the target heartbeat transmission cycle. The data includes, but is not limited to: the current risk level of the computing platform, the hardware status of the computing platform, the status of each software module, the heartbeat count, and the handshake interaction information of the computing platform (handshake request, response, bus preemption signal, etc.).

[0085] If the primary computing platform is currently inactive, and the heartbeat information of the backup computing platform is not detected based on the heartbeat online status of the backup computing platform, and the control command message issued by the backup computing platform is not detected based on the control command online status of the backup computing platform, then a bus preemption request message is sent (i.e., the bus preemption request message is used to inform the primary computing platform and the backup computing platform to stop issuing control command messages).

[0086] When the preemption duration corresponding to the bus preemption request information is greater than the preset threshold T q Then, activate the main computing platform and use it to send chassis control commands. Otherwise, keep the main computing platform inactive. Wherein, T... q ≤T max -T ce -T e -T c Among them, T e For heartbeat offline time, T ce To control the offline time of instructions, T max To protect startup time for VCU security policies, T c To control the frequency of command message transmission.

[0087] In this embodiment of the disclosure, when the main computing platform is currently inactive and no heartbeat information of the backup computing platform is detected, and no control command message is issued by the backup computing platform, the bus abnormality caused by the main computing platform and the backup computing platform simultaneously sending the same CAN message ID is avoided. At this time, a bus preemption request message is sent, and then the activation object is determined according to the bus preemption request message to realize automatic switching between computing platforms.

[0088] In some alternative implementations, after determining that the main computing platform is currently inactive, the method further includes:

[0089] If heartbeat information from the backup computing platform is detected but no bus preemption request information is detected, the risk level of the main computing platform is determined based on the first heartbeat packet data, and the risk level of the backup computing platform is determined based on the second heartbeat packet data.

[0090] The activation result for the main computing platform is determined based on the risk levels of the primary computing platform and the backup computing platform.

[0091] The automatic switching result is determined based on the activation result, and chassis control commands are sent based on the automatic switching result.

[0092] Optionally, if the primary computing platform is currently inactive, and the heartbeat information of the backup computing platform is detected based on its online heartbeat status, and no bus preemption request is detected after checking for such request, then the risk levels of the primary computing platform and the backup computing platform are obtained based on the first heartbeat packet data broadcast on the CAN bus from the primary computing platform to the backup computing platform, and the second heartbeat packet data broadcast on the CAN bus from the backup computing platform to the primary computing platform. The flowchart for assessing the risk level of the computing platform is as follows: Figure 3 As shown, Figure 3 This assessment targets the risk level of the backup computing platform. The risk level is described in Table 1.

[0093] It should be noted that the hierarchical stratification is not limited to... Figure 3 The three levels in Table 1 can be added or removed according to the standards. It should be noted that, according to... Figure 3 As can be seen from the risk level assessment process of the computing platform, the security monitoring software in this embodiment processes the network heartbeat and status data, process online status, data channel status, status of each software module and sensor failure, and hardware status such as CPU usage, disk space remaining, and processor temperature of the backup computing platform. Then, it outputs a risk level assessment of the computing platform, such as a level of normal (Level 1), a level of general abnormality (Level 2), or a level of severe abnormality (Level 3). Then, it transmits the heartbeat and status data of the backup computing platform and publishes the risk level assessment results of the computing platform.

[0094] Table 1

[0095]

[0096] Next, based on the risk levels of the primary computing platform and the backup computing platform, the activation result for the primary computing platform is determined. Then, based on the activation result, the automatic switchover result between the primary and backup computing platforms is determined, and based on the automatic switchover result, the computing platform to send chassis control commands is determined, and the chassis control commands are sent.

[0097] If the heartbeat information of the backup computing platform is detected based on the online heartbeat status of the backup computing platform, and a bus preemption request is received, then the main computing platform remains inactive.

[0098] In this embodiment of the disclosure, after the heartbeat information of the backup computing platform can be detected, the active computing platform is determined according to the risk level of the main computing platform and the backup computing platform, thereby realizing automatic switching between the computing platforms.

[0099] In some optional implementations, the activation result of the main computing platform is determined based on the risk level of the main computing platform and the risk level of the backup computing platform, including:

[0100] When the risk level of the primary computing platform is lower than that of the backup computing platform, determine whether a handshake response signal is received after the primary computing platform sends the first heartbeat packet data to the backup computing platform.

[0101] If a handshake response signal is received, the main computing platform is activated;

[0102] If the risk level of the primary computing platform is greater than or equal to the risk level of the backup computing platform, the primary computing platform remains inactive.

[0103] Optionally, if the risk level l1 of the primary computing platform is less than the risk level l2 of the backup computing platform, the primary computing platform sends a handshake request to the backup computing platform and checks whether it receives a handshake response signal from the backup computing platform. If a handshake response signal is received, the primary computing platform is activated.

[0104] If the risk level l1 of the primary computing platform is greater than or equal to the risk level l2 of the backup computing platform, the primary computing platform remains inactive.

[0105] In some alternative implementations, the method further includes:

[0106] Once it is determined that the main computing platform is currently active, check whether a handshake communication request has been received within the second heartbeat packet data;

[0107] After receiving the handshake communication request, the main computing platform exits the active state and sends a response signal to the backup computing platform, achieving automatic switching with the backup computing platform and using the backup computing platform to send chassis control commands.

[0108] Optionally, if the main computing platform is in an activated state, it checks whether it has received a handshake communication request in the second heartbeat packet data of the backup computing platform. If the request is detected, the main computing platform exits the activated state and sends a handshake "response" signal to achieve automatic switching with the backup computing platform and uses the backup computing platform to send chassis control commands. Otherwise, it remains in the activated state. In addition, if a bus preemption request is detected, the main computing platform directly exits the activated state.

[0109] In this embodiment of the disclosure, when the main computing platform is currently active, the handshake communication result with the backup computing platform is determined, thereby realizing automatic switching between the main computing platform and the backup computing platform. The backup computing platform sends chassis control commands to realize computing platform switching based on one CAN, reducing computing platform hardware requirements, reducing costs, and reducing system complexity.

[0110] In some alternative implementations, such as Figure 4 As shown, Figure 4 This is an overall flowchart of the computing platform switching logic according to some embodiments of this disclosure. The specific process is as follows:

[0111] start;

[0112] If the single computing platform mode is triggered, the computing platform will be activated directly; at the same time, the activation status will be sent to the CAN bus.

[0113] If the dual redundancy backup mode is triggered, the heartbeat message period T will be adaptively adjusted according to the VCU disconnection emergency braking protection time, module data processing cycle, and control command message cycle.

[0114] The system determines whether the main computing platform is activated. If activated, it checks if the main computing platform has received a handshake request. If it receives a handshake response, it deactivates and transmits the deactivation status to the CAN bus. If it does not receive a handshake response, it checks if it has received a bus preemption request. If it does, it transmits the deactivation status to the CAN bus. If it does not receive a bus preemption request, the main computing platform remains activated and simultaneously sends the activation status to the CAN bus.

[0115] If the primary computing platform is not activated, the heartbeat online time monitoring of the backup computing platform is used to determine whether the heartbeat of the backup computing platform is online.

[0116] If the heartbeat is online, it checks whether the main computing platform has received a bus preemption request. If a preemption request is received, the main computing platform is not activated. If no preemption request is received, a risk level assessment is performed. If the risk level of the main computing platform is lower than that of the backup platform, the main computing platform sends a handshake request. After receiving a response from the backup platform, the main computing platform is activated. If the risk level of the main computing platform is greater than or equal to that of the backup platform, the main computing platform is not activated. Simultaneously, an inactive status is sent to the CAN bus.

[0117] If the heartbeat is offline, the system monitors whether it receives control commands from the backup computing platform. If received, the main computing platform remains inactive and sends an inactive status message to the CAN bus. Otherwise, it sends a bus preemption request, and after a preset threshold delay, the main computing platform activates and sends an activation status message to the CAN bus.

[0118] from Figure 4 As can be seen, for the CAN bus, it essentially issues an activation or deactivation status to the main computing platform. If the main computing platform is active, it sends chassis control commands; if it is inactive, it does not send chassis control commands. Simultaneously, the CAN bus also sends heartbeat data based on the activation status of the main computing platform.

[0119] This embodiment also provides a device for determining control instructions based on a computing platform. This device is used to implement the above embodiments and preferred embodiments, and details already described will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0120] This embodiment provides a device for determining control commands based on a computing platform, such as... Figure 5 As shown, it includes:

[0121] The first acquisition module 501 is used to acquire the first heartbeat packet data sent by the main computing platform to the backup computing platform and the second heartbeat packet data sent by the backup computing platform to the main computing platform based on a determined target heartbeat sending cycle, wherein both the main computing platform and the backup computing platform include multiple platforms.

[0122] Monitoring module 502 is used to monitor the heartbeat online status and control command online status of the backup computing platform based on the current activation status of the main computing platform.

[0123] The first determining module 503 is used to determine whether the main computing platform and the backup computing platform have achieved automatic switching based on the current activation status of the main computing platform, the first heartbeat packet data, the second heartbeat packet data, the heartbeat online status of the backup computing platform, and the control command online status of the backup computing platform, and to send chassis control commands based on the automatic switching result.

[0124] In some alternative implementations, the first determining module 503 includes:

[0125] The first sending unit is used to send a bus preemption request to stop the main computing platform and the backup computing platform from issuing control command messages when it is determined that the main computing platform is currently inactive and no heartbeat information of the backup computing platform is detected and no control command message is issued by the backup computing platform. The heartbeat information of the backup computing platform is determined based on the heartbeat online status of the backup computing platform, and the control command message issued by the backup computing platform is determined based on the control command online status of the backup computing platform.

[0126] The second sending unit is used to activate the main computing platform and send chassis control commands when the preemption time corresponding to the bus preemption request information exceeds a preset threshold.

[0127] In some alternative embodiments, the device further includes:

[0128] The first determining unit is used to determine the risk level of the main computing platform and the risk level of the backup computing platform based on the first heartbeat packet data after determining that the main computing platform is currently in an inactive state, and after detecting the heartbeat information of the backup computing platform and not detecting the bus preemption request information.

[0129] The second determining unit is used to determine the activation result of the main computing platform based on the risk level of the main computing platform and the risk level of the backup computing platform.

[0130] The third sending unit is used to determine the automatic switching result based on the activation result, and to send chassis control commands based on the automatic switching result.

[0131] In some optional implementations, the second determining unit includes:

[0132] The determination submodule is used to determine whether a handshake response signal is received after the primary computing platform sends the first heartbeat packet data to the backup computing platform when the risk level of the primary computing platform is lower than that of the backup computing platform.

[0133] The activation submodule is used to activate the main computing platform if a handshake response signal is received.

[0134] The inactive submodule is used to keep the main computing platform inactive when the risk level of the main computing platform is greater than or equal to the risk level of the backup computing platform.

[0135] In some alternative embodiments, the device further includes:

[0136] The detection unit is used to detect whether a handshake communication request has been received in the second heartbeat packet data, once it is determined that the main computing platform is currently in an active state.

[0137] The fourth sending unit is used to exit the active state of the main computing platform after the main computing platform receives the handshake communication request, and send a response signal to the backup computing platform to achieve automatic switching with the backup computing platform, and send chassis control commands using the backup computing platform.

[0138] In some alternative embodiments, the device further includes:

[0139] The second acquisition module is used to acquire multiple main computing platforms and multiple backup computing platforms before acquiring the first heartbeat packet data sent by the main computing platform to the backup computing platform and the second heartbeat packet data sent by the backup computing platform to the main computing platform based on a determined target heartbeat sending period. The backup computing platform is a backup object of the main computing platform.

[0140] The second determining module is used to determine the initial heartbeat sending period based on the associated parameters of the computing platform, wherein the initial heartbeat sending period is the time period for the primary computing platform and the backup computing platform to send heartbeat packet data to each other.

[0141] The third determination module is used to determine the actual duration of the handshake communication between the main computing platform and the backup computing platform based on the time period of the heartbeat packet data.

[0142] The fourth determination module is used to adjust the initial heartbeat transmission period based on the actual duration and determine the target heartbeat transmission period.

[0143] In some optional implementations, the associated parameters include: security policy protection startup duration, logic processing cycle, control command message sending cycle, and adjustment coefficient. The fourth determining module includes:

[0144] The adjustment module is used to adjust the adjustment coefficient when the actual duration is greater than or equal to the security policy protection start duration. The target heartbeat sending period is determined based on the security policy protection start duration, logic processing cycle, control command message sending cycle, and the adjusted adjustment coefficient.

[0145] In this embodiment, the control instruction determination device based on the computing platform is presented in the form of a functional unit. Here, a unit refers to an ASIC circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0146] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0147] This disclosure also provides a computer device having the above-described features. Figure 5 The device shown is a control command determination device based on a computing platform.

[0148] Please see Figure 6 , Figure 6 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of this disclosure, such as... Figure 6 As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 6 Take a processor 10 as an example.

[0149] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0150] The memory 20 stores instructions executable by at least one processor 10 to cause at least one processor 10 to perform the method shown in the above embodiments.

[0151] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device as shown by a landing page for an app. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, which can be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0152] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0153] The computer device also includes a communication interface 30 for communicating with other devices or communication networks.

[0154] This disclosure also provides a computer-readable storage medium in which the methods described in this disclosure can be implemented in hardware or firmware, or implemented as recordable on a storage medium, or implemented as computer code originally stored on a remote storage medium or a non-transitory machine-readable storage medium and subsequently stored on a local storage medium after being downloaded over a network. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium may be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium may also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code that, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0155] Although embodiments of the present disclosure have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present disclosure, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for determining control instructions based on a computing platform, the method comprising: The method includes: Based on a determined target heartbeat sending cycle, the first heartbeat packet data sent by the main computing platform to the backup computing platform and the second heartbeat packet data sent by the backup computing platform to the main computing platform are obtained, wherein both the main computing platform and the backup computing platform include multiple platforms; Based on the current activation status of the main computing platform, monitor the heartbeat online status and the control command online status of the backup computing platform. Based on the current activation status of the main computing platform, the first heartbeat packet data, the second heartbeat packet data, the heartbeat online status of the backup computing platform, and the control command online status of the backup computing platform, determine whether the main computing platform and the backup computing platform can automatically switch over, and send chassis control commands according to the automatic switching result; The step of determining whether the main computing platform and the backup computing platform have achieved automatic switching based on the current activation status of the main computing platform, the first heartbeat packet data, the second heartbeat packet data, the heartbeat online status of the backup computing platform, and the control command online status of the backup computing platform, and sending chassis control commands according to the automatic switching result, includes: If it is determined that the main computing platform is currently inactive and no heartbeat information of the backup computing platform is detected, and no control command message is issued by the backup computing platform, a bus preemption request message to stop the main computing platform and the backup computing platform from issuing control command messages is sent. The heartbeat information of the backup computing platform is determined based on the heartbeat online status of the backup computing platform, and the control command message issued by the backup computing platform is determined based on the control command online status of the backup computing platform. After the preemption duration corresponding to the bus preemption request information exceeds a preset threshold, the main computing platform is activated, and the chassis control command is sent using the main computing platform. Before acquiring the first heartbeat packet data sent from the primary computing platform to the backup computing platform and the second heartbeat packet data sent from the backup computing platform to the primary computing platform based on a determined target heartbeat sending period, the method further includes: Multiple primary computing platforms and multiple backup computing platforms are acquired, wherein the backup computing platforms are backup objects of the primary computing platforms; The initial heartbeat sending period is determined based on the associated parameters of the computing platform, wherein the initial heartbeat sending period is the time period for the main computing platform and the backup computing platform to send heartbeat packet data to each other. The actual duration of the handshake communication between the main computing platform and the backup computing platform is determined based on the time period of the heartbeat packet data. The initial heartbeat transmission period is adjusted according to the actual duration to determine the target heartbeat transmission period; The associated parameters include: security policy protection startup duration, logic processing cycle, control command message transmission cycle, and adjustment coefficient. The step of adjusting the initial heartbeat transmission cycle based on the actual duration to determine the target heartbeat transmission cycle includes: If the actual duration is greater than or equal to the security policy protection start duration, the adjustment coefficient is adjusted, and the target heartbeat sending period is determined based on the security policy protection start duration, the logic processing cycle, the control command message sending cycle, and the adjusted adjustment coefficient.

2. The method of claim 1, wherein, After determining that the main computing platform is currently in an inactive state, the method further includes: If the heartbeat information of the backup computing platform is detected but the bus preemption request information is not detected, the risk level of the main computing platform is determined based on the first heartbeat packet data, and the risk level of the backup computing platform is determined based on the second heartbeat packet data. The activation result of the main computing platform is determined based on the risk level of the main computing platform and the risk level of the backup computing platform; The automatic switching result is determined based on the activation result, and the chassis control command is sent based on the automatic switching result.

3. The method of claim 2, wherein, The step of determining the activation result of the main computing platform based on the risk level of the main computing platform and the risk level of the backup computing platform includes: When the risk level of the primary computing platform is lower than that of the backup computing platform, determine whether a handshake response signal is received after the primary computing platform sends the first heartbeat packet data to the backup computing platform. If the handshake response signal is received, the main computing platform is activated; If the risk level of the primary computing platform is greater than or equal to the risk level of the backup computing platform, the primary computing platform remains inactive.

4. The method of claim 1, wherein, The method further includes: Once it is determined that the main computing platform is currently in an active state, it is checked whether a handshake communication request has been received in the second heartbeat packet data; After receiving the handshake communication request, the main computing platform exits the active state and sends a response signal to the backup computing platform to achieve automatic switching with the backup computing platform, and uses the backup computing platform to send the chassis control commands.

5. A control instruction device based on a computing platform for implementing the method according to any one of claims 1 to 4, characterized in that, The device includes: The first acquisition module is used to acquire, based on a determined target heartbeat sending cycle, the first heartbeat packet data sent by the main computing platform to the backup computing platform and the second heartbeat packet data sent by the backup computing platform to the main computing platform, wherein the main computing platform and the backup computing platform each include multiple platforms. The monitoring module is used to monitor the heartbeat online status and the control command online status of the backup computing platform based on the current activation status of the main computing platform. The first determining module is used to determine whether the main computing platform and the backup computing platform have achieved automatic switching based on the current activation status of the main computing platform, the first heartbeat packet data, the second heartbeat packet data, the heartbeat online status of the backup computing platform, and the control command online status of the backup computing platform, and to send chassis control commands based on the automatic switching result.

6. A computer device, characterized in that, include: A memory and a processor are communicatively connected, the memory stores computer instructions, and the processor executes the computer instructions to perform the method for determining control instructions based on a computing platform as described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to execute the method for determining control instructions based on a computing platform as described in any one of claims 1 to 4.

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