A vehicle control method, device, system, electronic equipment and readable medium

Abstract

The application provides a vehicle control method, device, system, electronic equipment and readable medium, which is applied to a computing power demand controller, is used for controlling the operation of a first functional component of a vehicle, the vehicle comprises a computing power redundancy controller, a to-be-processed parameter of the first functional component is acquired, and a control instruction of the first functional component is generated based on the to-be-processed parameter; state information sent by the computing power redundancy controller is acquired, and it is judged whether the computing power redundancy controller is in a computing power redundancy state; if yes, the to-be-processed parameter is sent to the computing power redundancy controller, and a backup control instruction returned by the computing power redundancy controller is acquired; the backup control instruction is generated by the computing power redundancy controller based on the to-be-processed parameter; a target control instruction is determined based on the backup control instruction and the control instruction, and the first functional component is controlled to operate by using the target control instruction, the computing power utilization rate of the computing power redundancy controller is improved, the computing power of the computing power redundancy controller is used for vehicle safety verification, and the target control instruction of the first functional component is confirmed.

Description

Technical Field

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

[0002] Vehicle onboard controllers are typically relatively independent, and the computing modules of different onboard controllers are also relatively independent; the computing power of different onboard controllers cannot be shared. The computing modules of an onboard controller have a probability of failure. When a computing module of an onboard controller fails, the vehicle control of that controller will malfunction, potentially generating incorrect control commands and leading to serious traffic accidents. Summary of the Invention

[0003] This invention provides a vehicle control method, device, system, electronic device, and computer-readable storage medium to solve the problem that the computing power of different vehicle controllers cannot be used interchangeably. When the computing power module of a certain vehicle controller fails, the vehicle control of that vehicle controller will be abnormal, which may generate incorrect control commands and potentially lead to serious traffic accidents.

[0004] This invention provides a vehicle control method applied to a vehicle's computing power demand controller. The computing power demand controller is used to control the operation of at least one first functional component of the vehicle. The vehicle also includes at least one computing power redundancy controller. The method includes:

[0005] Obtain the parameters to be processed of the first functional component, and generate control instructions for the first functional component based on the parameters to be processed;

[0006] Obtain the status information of the computing power redundancy controller sent by the computing power redundancy controller, and determine whether the computing power redundancy controller is in a preset computing power redundancy state based on the status information.

[0007] If the computing power redundancy controller is in the computing power redundancy state, the parameters to be processed are sent to the computing power redundancy controller, and the backup control instruction of the first functional component returned by the computing power redundancy controller is obtained; the backup control instruction is generated by the computing power redundancy controller based on the parameters to be processed.

[0008] Based on the backup control command and the control command, a target control command for the first functional component is determined, and the operation of the first functional component is controlled using the target control command.

[0009] Optionally, the method includes:

[0010] If the computing power redundancy controller is not in the computing power redundancy state, the operation of the first functional component is controlled by the control command.

[0011] Optionally, the step of determining the target control instruction for the first functional component based on the backup control instruction and the control instruction, and controlling the operation of the first functional component using the target control instruction, includes:

[0012] If the control command and any of the backup control commands are the same, then the computing power demand controller is confirmed to be in a preset normal state.

[0013] The control command is used as the target control command, and the operation of the first functional component is controlled by the target control command.

[0014] Optionally, the step of determining the target control instruction for the first functional component based on the backup control instruction and the control instruction, and controlling the operation of the first functional component using the target control instruction, includes:

[0015] If the control instruction is different from any of the backup control instructions, the control instruction and the backup control instructions are compared and classified according to a preset classification principle to obtain at least one type of control instruction; wherein, the classification principle means that the control instructions and the backup control instructions that are the same are classified into one category.

[0016] Based on the principle of majority rule, the control command with the largest number of types is taken as the target control command;

[0017] The operation of the first functional component is controlled using the target control command.

[0018] Optionally, the vehicle also has an alarm; the step of using the most numerous type of control commands as the target control command is followed by:

[0019] If the control command generated by the computing power demand controller is the same as the target control command, then the computing power demand controller is confirmed to be in the normal state.

[0020] If the control command generated by the computing power demand controller is different from the target control command, it is confirmed that the computing power demand controller is not in the normal state, and an alarm is issued using the alarm device.

[0021] Optionally, the step of comparing and classifying the control command and the backup control command according to a preset classification principle to obtain at least one type of control command includes:

[0022] If the number of control instructions for each type is the same, and the number of control instructions for each type is greater than or equal to 2, then the operation of the first functional component is controlled by the control instructions of the computing power demand controller.

[0023] If the number of control commands for each type is 1, then the operation of the first functional component is stopped.

[0024] This invention also provides a vehicle control device, applied to a computing power demand controller for a vehicle. The computing power demand controller is used to control the operation of at least one first functional component of the vehicle. The vehicle further includes at least one computing power redundancy controller. The device includes:

[0025] The parameter acquisition module is used to acquire the parameters to be processed of the first functional component and generate control instructions for the first functional component based on the parameters to be processed.

[0026] The status information acquisition module is used to acquire the status information of the computing power redundancy controller sent by the computing power redundancy controller, and determine whether the computing power redundancy controller is in a preset computing power redundancy state based on the status information.

[0027] The parameter to be processed module is used to send the parameter to be processed to the computing power redundancy controller if the computing power redundancy controller is in the computing power redundancy state, and to obtain the backup control instruction of the first functional component returned by the computing power redundancy controller; the backup control instruction is generated by the computing power redundancy controller based on the parameter to be processed.

[0028] The target control instruction determination module is used to determine the target control instruction of the first functional component based on the backup control instruction and the control instruction, and to control the operation of the first functional component using the target control instruction.

[0029] Optionally, the device includes:

[0030] The control module is used to control the operation of the first functional component using the control instructions if the computing power redundancy controller is not in the computing power redundancy state.

[0031] Optionally, the target control command determination module includes:

[0032] The first normal state confirmation submodule is used to confirm that the computing power demand controller is in a preset normal state if the control command and any of the backup control commands are the same.

[0033] The first operation control submodule is used to take the control instruction as the target control instruction and use the target control instruction to control the operation of the first functional component.

[0034] Optionally, the target control command determination module includes:

[0035] The classification submodule is used to compare and classify the control instruction and the backup control instruction according to a preset classification principle if the control instruction and any backup control instruction are different, so as to obtain at least one type of control instruction; wherein, the classification principle means that the control instructions and the backup control instructions that are the same are classified into one category.

[0036] As a submodule, it is used to select the most numerous type of control instruction as the target control instruction based on the principle of majority rule.

[0037] The second operation control submodule is used to control the operation of the first functional component using the target control command.

[0038] Optionally, the vehicle also has an alarm; the target control command determination module includes:

[0039] The second normal state confirmation submodule is used to confirm that the computing power demand controller is in the normal state if the control command generated by the computing power demand controller is the same as the target control command.

[0040] The alarm issuing submodule is used to confirm that the computing power demand controller is not in the normal state if the control command generated by the computing power demand controller is different from the target control command, and to issue an alarm using the alarm device.

[0041] Optionally, the target control command determination module includes:

[0042] The third operation control submodule is used to control the operation of the first functional component by means of the control instructions of the computing power demand controller if the number of control instructions of each type is greater than or equal to 2, when the number of control instructions of each type is the same.

[0043] The control stop submodule is used to stop controlling the operation of the first functional component if the number of control commands of each type is 1.

[0044] This invention provides yet another vehicle control method applied to a vehicle's computing power redundancy controller. The computing power redundancy controller is used to control the operation of at least one second functional component of the vehicle. The vehicle further includes a computing power demand controller, which is used to control the operation of at least one first functional component of the vehicle. The method includes:

[0045] Based on the operating status of the second functional component and / or the operating status of the computing power redundancy controller, determine whether the computing power redundancy controller is in a preset computing power redundancy state.

[0046] If the computing power redundancy controller is in the computing power redundancy state, the first status information of the computing power redundancy controller is sent to the computing power demand controller to obtain the pending parameters of the first functional component returned by the computing power demand controller; the first status information is used to indicate that the computing power redundancy controller is in the computing power redundancy state.

[0047] Based on the parameters to be processed, a backup control instruction for the first functional component is generated, and the backup control instruction is sent to the computing power demand controller; the computing power demand controller is used to determine the target control instruction for the first functional component based on the backup control instruction.

[0048] Optionally, the step of determining whether the computing power redundancy controller is in a preset computing power redundancy state based on the operating state of the second functional component and / or the operating state of the computing power redundancy controller includes:

[0049] Based on the running status of the second functional component, determine whether the second functional component is running;

[0050] If any of the second functional components is not running, then the computing power redundancy controller is confirmed to be in the computing power redundancy state.

[0051] Optionally, the computing power redundancy controller is used to control the operation of at least one second functional component using the computing power of the computing power redundancy controller; the step of determining whether the computing power redundancy controller is in a preset computing power redundancy state based on the operating state of the second functional component and / or the operating state of the computing power redundancy controller includes:

[0052] For any second functional component, if the computing power of the computing power redundancy controller corresponding to the second functional component is greater than the computing power of the computing power redundancy controller corresponding to the other second functional components, then the second functional component is taken as the target functional component.

[0053] Based on the running status of the target functional component, determine whether the target functional component is running;

[0054] If the target functional component is not running, then the computing power redundancy controller is confirmed to be in the computing power redundancy state.

[0055] Optionally, the computing power redundancy controller includes a central processing unit; the step of determining whether the computing power redundancy controller is in a preset computing power redundancy state based on the operating state of the second functional component and / or the operating state of the computing power redundancy controller includes:

[0056] Based on the operating status of the computing power redundancy controller, the load rate of the central processing unit is confirmed;

[0057] If the load rate of the central processing unit is not greater than the preset load rate threshold, then the computing power redundancy controller is confirmed to be in the computing power redundancy state.

[0058] Optionally, the method includes:

[0059] If the computing power redundancy controller is not in the computing power redundancy state, the second status information of the computing power redundancy controller is sent to the computing power demand controller; the second status information is used to indicate that the computing power redundancy controller is not in the computing power redundancy state; the computing power demand controller is used to control the operation of the first functional component based on the second status information and using the control instructions generated by the computing power demand controller.

[0060] This invention provides yet another vehicle control device applied to a vehicle's computing power redundancy controller. The computing power redundancy controller is used to control the operation of at least one second functional component of the vehicle. The vehicle further includes a computing power demand controller, which is used to control the operation of at least one first functional component of the vehicle. The device includes:

[0061] The computing power redundancy status judgment module is used to determine whether the computing power redundancy controller is in a preset computing power redundancy state based on the operating status of the second functional component and / or the operating status of the computing power redundancy controller.

[0062] The first status information sending module is used to send the first status information of the computing power redundancy controller to the computing power demand controller if the computing power redundancy controller is in the computing power redundancy state, and to obtain the pending parameters of the first functional component returned by the computing power demand controller; the first status information is used to indicate that the computing power redundancy controller is in the computing power redundancy state.

[0063] A backup control instruction generation module is used to generate backup control instructions for the first functional component based on the parameters to be processed, and send the backup control instructions to the computing power demand controller; the computing power demand controller is used to determine the target control instructions for the first functional component based on the backup control instructions.

[0064] Optionally, the computing power redundancy status determination module includes:

[0065] The first operation judgment submodule is used to determine whether the second functional component is running based on the running status of the second functional component;

[0066] The first confirmation submodule is used to confirm that the computing power redundancy controller is in the computing power redundancy state if any of the second functional components is not running.

[0067] Optionally, the computing power redundancy controller is used to control the operation of the at least one second functional component using the computing power of the computing power redundancy controller; the computing power redundancy status judgment module includes:

[0068] The target functional component is used as a sub-module to determine whether, for any second functional component, if the computing power of the computing power redundancy controller corresponding to the second functional component is greater than the computing power of the computing power redundancy controller corresponding to the other second functional components, then the second functional component is designated as the target functional component.

[0069] The second operation judgment submodule is used to determine whether the target functional component is running based on the running status of the target functional component;

[0070] The second confirmation submodule is used to confirm that the computing power redundancy controller is in the computing power redundancy state if the target functional component is not running.

[0071] Optionally, the computing power redundancy controller includes a central processing unit; the computing power redundancy status determination module includes:

[0072] The load rate confirmation submodule is used to confirm the load rate of the central processing unit based on the operating status of the computing power redundancy controller.

[0073] The third confirmation submodule is used to confirm that the computing power redundancy controller is in the computing power redundancy state if the load rate of the central processing unit is not greater than a preset load rate threshold.

[0074] Optionally, the device includes:

[0075] The sending module is configured to send the second status information of the computing power redundancy controller to the computing power demand controller if the computing power redundancy controller is not in the computing power redundancy state; the second status information is used to indicate that the computing power redundancy controller is not in the computing power redundancy state; the computing power demand controller is configured to control the operation of the first functional component based on the second status information and using the control instructions generated by the computing power demand controller.

[0076] This invention provides a vehicle control system, including a vehicle computing power demand controller and a computing power redundancy controller;

[0077] The computing power demand controller is used to obtain the parameters to be processed of the first functional component of the vehicle, and generate control instructions for the first functional component based on the parameters to be processed.

[0078] The computing power redundancy controller is used to determine whether the computing power redundancy controller is in a preset computing power redundancy state based on the operating state of the second functional component of the vehicle and / or the operating state of the computing power redundancy controller. If the computing power redundancy controller is in the computing power redundancy state, the first status information of the computing power redundancy controller is sent to the computing power demand controller. The first status information is used to indicate that the computing power redundancy controller is in the computing power redundancy state.

[0079] The computing power demand controller is used to obtain the first status information and, based on the first status information, determine whether the computing power redundancy controller is in the computing power redundancy state. If the computing power redundancy controller is in the computing power redundancy state, the parameter to be processed is sent to the computing power redundancy controller.

[0080] The computing power redundancy controller is used to generate backup control instructions for the first functional component based on the parameters to be processed, and send the backup control instructions to the computing power demand controller.

[0081] The computing power demand controller is used to determine the target control instruction for the first functional component based on the backup control instruction and the control instruction, and to control the operation of the first functional component using the target control instruction.

[0082] Optionally, the computing power redundancy controller is configured to send a second status information of the computing power redundancy controller to the computing power demand controller if the computing power redundancy controller is not in the computing power redundancy state; the second status information is used to indicate that the computing power redundancy controller is not in the computing power redundancy state.

[0083] The computing power demand controller is used to acquire the second status information and, based on the second status information, determine whether the computing power redundancy controller is in the computing power redundancy state. If the computing power redundancy controller is not in the computing power redundancy state, the controller uses the control command to control the operation of the first functional component.

[0084] Optionally, the computing power demand controller is configured to confirm that the computing power demand controller is in a preset normal state if the control command and any of the backup control commands are the same.

[0085] The computing power demand controller is used to take the control instruction as the target control instruction and use the target control instruction to control the operation of the first functional component.

[0086] Optionally, the computing power demand controller is used to compare and classify the control instruction and the backup control instruction according to a preset classification principle if the control instruction and any of the backup control instructions are different, so as to obtain at least one type of control instruction; wherein, the classification principle means that the control instructions and the backup control instructions that are the same are classified into one category;

[0087] The computing power demand controller is used to select the control command with the largest number of types as the target control command based on the principle of majority rule.

[0088] The computing power demand controller is used to control the operation of the first functional component using the target control instructions.

[0089] Optionally, the vehicle also has an alarm;

[0090] The computing power demand controller is used to confirm that the computing power demand controller is in the normal state if the control command generated by the computing power demand controller is the same as the target control command.

[0091] The computing power demand controller is used to confirm that the computing power demand controller is not in the normal state if the control command generated by the computing power demand controller is different from the target control command, and to issue an alarm using the alarm.

[0092] Optionally, the computing power demand controller is used to control the operation of the first functional component by means of the control instructions of the computing power demand controller if the number of control instructions of each type is greater than or equal to 2, when the number of control instructions of each type is the same.

[0093] The computing power demand controller is used to stop controlling the operation of the first functional component if the number of control instructions of each type is 1.

[0094] Optionally, the computing power redundancy controller is used to determine whether the second functional component is running based on the operating status of the second functional component;

[0095] The computing power redundancy controller is used to confirm that the computing power redundancy controller is in the computing power redundancy state if any of the second functional components is not running.

[0096] Optionally, the computing power redundancy controller is used to control the operation of the at least one second functional component using the computing power of the computing power redundancy controller;

[0097] The computing power redundancy controller is used to target any second functional component if the computing power of the computing power redundancy controller corresponding to the second functional component is greater than the computing power of the computing power redundancy controller corresponding to the other second functional components.

[0098] The computing power redundancy controller is used to determine whether the target functional component is running based on its operating status.

[0099] The computing power redundancy controller is used to confirm that the computing power redundancy controller is in the computing power redundancy state if the target functional component is not running.

[0100] Optionally, the computing power redundancy controller includes a central processing unit;

[0101] The computing power redundancy controller is used to determine the load rate of the central processing unit based on the operating status of the computing power redundancy controller.

[0102] The computing power redundancy controller is used to confirm that the computing power redundancy controller is in the computing power redundancy state if the load rate of the central processing unit is not greater than a preset load rate threshold.

[0103] This invention also discloses an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0104] The memory is used to store computer programs;

[0105] When the processor executes a program stored in the memory, it implements the method described in the embodiments of the present invention.

[0106] This invention also discloses one or more computer-readable media storing instructions that, when executed by one or more processors, cause the processors to perform the methods described in this invention.

[0107] The embodiments of the present invention have the following advantages:

[0108] In this embodiment of the invention, a computing power demand controller is used to control the operation of at least one first functional component of a vehicle. The vehicle also includes at least one computing power redundancy controller. The computing power demand controller acquires the parameters to be processed for the first functional component and generates control instructions for the first functional component based on the parameters. The computing power demand controller acquires the status information of the computing power redundancy controller sent by the computing power redundancy controller and determines whether the computing power redundancy controller is in a preset computing power redundancy state based on the status information. If the computing power redundancy controller is in a computing power redundancy state, the controller sends the parameters to be processed to the computing power redundancy controller and acquires the backup control instructions for the first functional component returned by the computing power redundancy controller. The backup control instructions are generated by the computing power redundancy controller based on the parameters to be processed. Based on the backup control instructions and the control instructions, the computing power demand controller determines the target control instructions for the first functional component and uses the target control instructions to control the operation of the first functional component. This improves the computing power utilization rate of the computing power redundancy controller in the computing power redundancy state in the vehicle and uses the computing power of the computing power redundancy controller in the computing power redundancy state for the safety verification of the entire vehicle, determines whether the computing power demand controller is operating normally, determines the target control instructions for the first functional component, and improves the overall vehicle safety performance. In addition, the computing power chip of the computing power redundancy controller in the computing power redundancy state generates backup control instructions for the first functional component of the computing power demand controller. This is equivalent to the existence of a second computing power chip of the computing power demand controller in the computing power redundancy controller. This realizes the use of the computing power chip of the computing power redundancy controller as an alternative to the dual-chip redundancy scheme of the computing power demand controller, thereby reducing costs. Attached Figure Description

[0109] Figure 1 This is a flowchart of the steps of a vehicle control method provided in an embodiment of the present invention;

[0110] Figure 2 This is a schematic diagram of a backup control command for a computing power redundancy controller to generate a computing power demand controller, provided in an embodiment of the present invention.

[0111] Figure 3 This is a flowchart of another vehicle control method provided in this embodiment of the invention;

[0112] Figure 4 This is a flowchart of another vehicle control method provided in an embodiment of the present invention;

[0113] Figure 5 This is a structural block diagram of a vehicle control system provided in an embodiment of the present invention;

[0114] Figure 6 This is a structural block diagram of a vehicle control device provided in an embodiment of the present invention;

[0115] Figure 7This is a structural block diagram of another vehicle control device provided in the embodiments of the present invention;

[0116] Figure 8 This is a block diagram of an electronic device provided in an embodiment of the present invention;

[0117] Figure 9 This is a schematic diagram of a computer-readable medium provided in an embodiment of the present invention. Detailed Implementation

[0118] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0119] To facilitate understanding of the technical solutions and effects of the embodiments of the present invention, the prior art of the present invention will be briefly described below.

[0120] Vehicle controllers are typically relatively independent, and the computing modules of different controllers are also relatively independent; the computing power of different controllers cannot be shared. For example, the cockpit domain controller, autonomous driving controller, and vehicle controller are independent of each other, and their computing power cannot be shared.

[0121] The computing modules of an onboard controller have a probability of failure. When a computing module of an onboard controller fails, the vehicle control of that controller will malfunction, which may lead to a serious traffic accident.

[0122] The computing module of an onboard controller typically includes a single computing chip. To address the aforementioned issues, onboard controllers can employ a dual-chip heterogeneous redundancy scheme, where the two computing chips within the same controller act as backups for each other. If one computing chip fails, the other can continue to maintain normal vehicle operation. However, this dual-chip heterogeneous redundancy scheme for onboard controllers is costly and challenging to develop.

[0123] Reference Figure 1 The diagram illustrates a flowchart of a vehicle control method provided in an embodiment of the present invention, applied to a vehicle's computing power demand controller. The computing power demand controller is used to control the operation of at least one first functional component of the vehicle. The vehicle also includes at least one computing power redundancy controller. The method includes:

[0124] Step 101: Obtain the parameters to be processed of the first functional component, and generate control instructions for the first functional component based on the parameters to be processed;

[0125] In this embodiment of the invention, the vehicle includes at least one controller and at least one functional component. The controller can use its computing power to generate control commands for the functional component and use these commands to control the operation of the functional component. It should be noted that the controller contains a computing module, which in turn contains a computing chip. The computing chip uses a controller algorithm pre-installed in the controller to calculate the parameters to be processed by the functional component and generate control commands for the functional component.

[0126] In this embodiment of the invention, the controller in the vehicle includes at least one computing power redundancy controller and at least one computing power demand controller. The functional components in the vehicle include a second functional component controlled by the computing power redundancy controller and a first functional component controlled by the computing power demand controller. The computing power redundancy controller is a controller with high computing power, requiring significant computing power to generate control instructions for the second functional component and to control its operation. The computing power demand controller is a controller with low computing power, requiring less computing power to generate control instructions for the first functional component and to control its operation. It should be noted that the computing power redundancy controller is responsible for controlling at least one second functional component. Therefore, if any second functional component is not running, the computing power in the computing power redundancy controller is in a computing power redundancy state, and the computing power in the computing power redundancy controller can be used to generate backup control instructions for the first functional component corresponding to the computing power demand controller.

[0127] In this embodiment of the invention, the computing power demand controller can obtain the parameters to be processed of the first functional component, and use the controller algorithm of the computing power demand controller to calculate the parameters to be processed of the first functional component, generating control instructions for the first functional component. The control instructions can be used to control the operation of the first functional component.

[0128] Step 102: Obtain the status information of the computing power redundancy controller sent by the computing power redundancy controller, and determine whether the computing power redundancy controller is in a preset computing power redundancy state based on the status information.

[0129] In this embodiment of the invention, the computing power redundancy controller can determine whether it is in a preset computing power redundancy state based on the operating state of the second functional component controlled by the computing power redundancy controller and / or the operating state of the computing power redundancy controller, and send the status information of the computing power redundancy controller to the computing power demand controller. The computing power demand controller can obtain the status information of the computing power redundancy controller sent by the computing power redundancy controller, and determine whether the computing power redundancy controller is in a computing power redundancy state based on the status information.

[0130] Step 103: If the computing power redundancy controller is in the computing power redundancy state, send the parameters to be processed to the computing power redundancy controller and obtain the backup control instruction of the first functional component returned by the computing power redundancy controller; the backup control instruction is generated by the computing power redundancy controller based on the parameters to be processed.

[0131] In this embodiment of the invention, the computing power demand controller can acquire the parameters to be processed from the first functional component, and use the computing power of the computing power demand controller to calculate the parameters to be processed and generate control commands. If the computing power demand controller confirms that the computing power redundancy controller is in a computing power redundancy state, the computing power demand controller can use the CAN bus on the vehicle to send the parameters to be processed to the computing power redundancy controller.

[0132] The computing power redundancy controller can pre-install the controller algorithm of the computing power demand controller, and then use the vehicle's CAN bus to obtain the parameters to be processed from the first functional component corresponding to the computing power demand controller. The computing power redundancy controller can use the controller algorithm of the computing power demand controller to calculate the parameters to be processed from the first functional component, generate backup control commands for the first functional component, and send the backup control commands to the computing power demand controller via the CAN bus. It should be noted that the steps for processing the parameters to be processed in the computing power redundancy controller are the same as those in the computing power demand controller; that is, the parameter processing program in the computing power redundancy controller is the same as the parameter processing program in the computing power demand controller. The parameter processing program can also be called the code program.

[0133] Reference Figure 2 The diagram illustrates a backup control instruction for a computing power redundancy controller to generate a computing power demand controller, provided in an embodiment of the present invention.

[0134] A computing power redundancy controller is a controller with high computing power, while a computing power demand controller is a controller with low computing power. The computing power redundancy controller is also called a computing power redundancy provision controller, and the computing power demand controller is also called a computing power redundancy demand controller. The computing power redundancy controller includes the intelligent driving controller and the cockpit controller. The intelligent driving controller and the cockpit controller are the two controllers with the highest computing power in the vehicle, and their high-computing-power functions only operate under specific conditions. If their high-computing-power functions are not operating, the intelligent driving controller and the cockpit controller are idle computing power units, in a computing power redundancy state, and can generate backup control commands for the computing power demand controller. It should be noted that the high-computing-power function of the intelligent driving controller is the autonomous driving function, including environmental perception, driving decision-making, and vehicle control. The specific conditions for the autonomous driving function can be vehicle startup and reaching a certain speed, or the user pressing the autonomous driving button or instructing the vehicle to activate the autonomous driving function via voice command. The high-computing-power function of the cockpit controller is the navigation function, including rendering navigation and environmental information on the vehicle's main control screen. The specific conditions for the navigation function are the user pressing the navigation activation button or instructing the vehicle to activate the navigation function via voice command.

[0135] The computing power demand controller includes a vehicle controller, a body controller, a braking controller, and a steering controller. The computing power redundancy controller can pre-install the controller algorithm for the computing power demand controller, and then use the vehicle's CAN (Controller Area Network) bus to obtain the parameters to be processed from the first functional component corresponding to the computing power demand controller. The computing power redundancy controller can use the controller algorithm of the computing power demand controller to calculate the parameters to be processed from the first functional component, generate backup control commands for the first functional component, and send the backup control commands to the computing power demand controller via the CAN bus. If the computing power demand controller is a vehicle controller, the parameters to be processed are the input parameters of the torque control algorithm, including vehicle speed, steering angle, braking status, driver input, and environmental perception data, etc., and the backup control commands are the calculation results of the torque control algorithm. If the computing power demand controller is a body controller, the parameters to be processed are the input parameters of the body control algorithm, including door status, light status, window status, and data collected by the rain sensor, etc., and the backup control commands are the calculation results of the body control algorithm. If the computing power demand controller is a braking controller, the parameters to be processed are the input parameters of the braking control algorithm, including data such as wheel speed, braking pressure, and driver braking input. The backup control command is the calculation result of the braking control algorithm. If the computing power demand controller is a steering controller, the parameters to be processed are the input parameters of the steering control algorithm, including data such as steering wheel angle, steering torque, vehicle speed, and driver steering input. The backup control command is the calculation result of the steering control algorithm.

[0136] Step 104: Based on the backup control instruction and the control instruction, determine the target control instruction for the first functional component, and use the target control instruction to control the operation of the first functional component.

[0137] In this embodiment of the invention, the computing power demand controller can arbitrate based on at least one backup control instruction generated by at least one computing power redundancy controller and a control instruction generated by the computing power demand controller to determine whether the computing power demand controller is operating normally. If the control instruction and any backup control instruction are the same, the computing power demand controller is confirmed to be in a normal state; if the control instruction and any backup control instruction are different, the computing power demand controller and the computing power redundancy controller can be determined to be in a normal state based on the backup control instruction and the control instruction.

[0138] In this embodiment of the invention, the computing power demand controller can also determine the target control instructions for the first functional component when the computing power demand controller is in a normal state and an abnormal state, based on backup control instructions and control instructions, and use the target control instructions to control the operation of the first functional component.

[0139] In this embodiment of the invention, a computing power demand controller is used to control the operation of at least one first functional component of a vehicle. The vehicle also includes at least one computing power redundancy controller. The computing power demand controller acquires the parameters to be processed for the first functional component and generates control instructions for the first functional component based on the parameters. The computing power demand controller acquires the status information of the computing power redundancy controller sent by the computing power redundancy controller and determines whether the computing power redundancy controller is in a preset computing power redundancy state based on the status information. If the computing power redundancy controller is in a computing power redundancy state, the controller sends the parameters to be processed to the computing power redundancy controller and acquires the backup control instructions for the first functional component returned by the computing power redundancy controller. The backup control instructions are generated by the computing power redundancy controller based on the parameters to be processed. Based on the backup control instructions and the control instructions, the computing power demand controller determines the target control instructions for the first functional component and uses the target control instructions to control the operation of the first functional component. This improves the computing power utilization rate of the computing power redundancy controller in the computing power redundancy state in the vehicle and uses the computing power of the computing power redundancy controller in the computing power redundancy state for the safety verification of the entire vehicle, determines whether the computing power demand controller is operating normally, determines the target control instructions for the first functional component, and improves the overall vehicle safety performance. In addition, the computing power chip of the computing power redundancy controller in the computing power redundancy state generates backup control instructions for the first functional component of the computing power demand controller. This is equivalent to the existence of a second computing power chip of the computing power demand controller in the computing power redundancy controller. This realizes the use of the computing power chip of the computing power redundancy controller as an alternative to the dual-chip redundancy scheme of the computing power demand controller, thereby reducing costs.

[0140] Further, in any of the above embodiments, the method includes:

[0141] Sub-step S11: If the computing power redundancy controller is not in the computing power redundancy state, the operation of the first functional component is controlled by the control command.

[0142] In this embodiment of the invention, the computing power demand controller can use its computing power to calculate the parameters to be processed of the first functional component and generate control instructions for the first functional component. If the computing power redundancy controller is not in a computing power redundancy state, the computing power demand controller uses the control instructions of the first functional component to control the operation of the first functional component, and no longer considers using the computing power of the computing power redundancy controller to generate backup control instructions for the first functional component.

[0143] In this embodiment of the invention, if the computing power redundancy controller is not in a computing power redundancy state, the computing power demand controller uses the control instructions of the first functional component to control the operation of the first functional component, thereby avoiding the problem of using the computing power of the computing power redundancy controller that is not in a computing power redundancy state, which would affect the control of the vehicle by the computing power redundancy controller.

[0144] Further, in any of the above embodiments, step 104 includes:

[0145] Sub-step S21: If the control command and any of the backup control commands are the same, then confirm that the computing power demand controller is in a preset normal state.

[0146] Sub-step S22: The control instruction is used as the target control instruction, and the operation of the first functional component is controlled by the target control instruction.

[0147] In this embodiment of the invention, the status of the computing power demand controller can be determined based on at least one backup control instruction generated by at least one computing power redundancy controller and a control instruction generated by the computing power demand controller. Specifically, if at least one backup control instruction generated by at least one computing power redundancy controller and a control instruction generated by the computing power demand controller are identical, then the computing power demand controller is confirmed to be in a normal state; if any backup control instruction and a control instruction generated by the computing power demand controller are inconsistent, then the status of the computing power demand controller and the computing power redundancy controller can be determined based on the backup control instruction and the control instruction. It should be noted that if the backup control instruction and the control instruction involve specific data, and the difference between the data of the backup control instruction and the control instruction is less than a preset difference threshold, then the backup control instruction and the control instruction are considered identical.

[0148] In this embodiment of the invention, if the computing power demand controller is in a normal state, the control instructions generated by the computing power demand controller are used as target control instructions, and the operation of the first functional component is controlled by the target control instructions.

[0149] In this embodiment of the invention, based on the backup control instructions generated by the computing power redundancy controller and the control instructions generated by the computing power demand controller, it is determined whether the computing power demand controller is in a normal state, and the target control instructions of the first functional component are determined when the computing power demand controller is in a normal state, thus avoiding the problem that the computing power demand controller may generate incorrect control instructions if it is abnormal.

[0150] Further, in any of the above embodiments, step 104 includes:

[0151] Sub-step S31: If the control instruction is different from any of the backup control instructions, then the control instruction and the backup control instructions are compared and classified according to a preset classification principle to obtain at least one type of control instruction; wherein, the classification principle means that the control instructions and the backup control instructions that are the same are classified into one category.

[0152] Sub-step S32, based on the principle of majority rule, selects the control instruction with the largest number of types as the target control instruction;

[0153] Sub-step S33: Control the operation of the first functional component using the target control command.

[0154] In this embodiment of the invention, based on at least one backup control command generated by at least one computing power redundancy controller and a control command generated by a computing power demand controller, it is determined whether the computing power demand controller is in a normal state. If the control command generated by the computing power demand controller is different from any of the backup control commands, it indicates that both the computing power demand controller and the computing power redundancy controller may be in an abnormal state.

[0155] In this embodiment of the invention, if the control instruction and any backup control instruction are different, the control instruction and the backup control instruction are compared and classified according to a preset classification principle to obtain at least one type of control instruction. The classification principle refers to grouping the control instructions that are the same as the backup control instructions into one category. Based on the principle of majority rule, the control instruction of the most numerous type is taken as the target control instruction. That is, if at least one control instruction is the same as any backup control instruction, the principle of "majority rule" is adopted, and the control instruction with the most numerous identical control instructions is taken as the target control instruction. The operation of the first functional component is controlled using the target control instruction.

[0156] In this embodiment of the invention, if the computing power demand controller and the computing power redundancy controller may malfunction, the target control instruction of the first functional component is determined based on the number of identical control instructions in the control instruction and the backup control instruction. The operation of the first functional component is controlled by the target control instruction, which realizes the arbitration of the computing power demand controller by the backup control instruction. When the computing power demand controller may malfunction, the target control instruction of the first functional component is confirmed to ensure the normal operation of the vehicle.

[0157] Furthermore, in any of the above embodiments, the vehicle also has an alarm; sub-step S32 is followed by:

[0158] Sub-step S41: If the control command generated by the computing power demand controller is the same as the target control command, then the computing power demand controller is confirmed to be in the normal state.

[0159] In sub-step S42, if the control command generated by the computing power demand controller is different from the target control command, it is confirmed that the computing power demand controller is not in the normal state, and an alarm is issued using the alarm device.

[0160] In this embodiment of the invention, if the control command generated by the computing power demand controller is different from any backup control command, it indicates that both the computing power demand controller and the computing power redundancy controller may be in an abnormal state. The control commands and backup control commands are compared and categorized according to a preset classification principle to obtain at least one type of control command. Based on the principle of majority rule, the type of control command with the largest number of commands is selected as the target control command. If the control command generated by the computing power demand controller is the same as the target control command, the computing power demand controller is confirmed to be in a normal state; if the control command generated by the computing power demand controller is different from the target control command, the computing power demand controller is confirmed to be in an abnormal state, and an alarm is issued to inform the user that the computing power demand controller is malfunctioning.

[0161] For any computing power redundancy controller, if the backup control command generated by the computing power redundancy controller is the same as the target control command, then the computing power redundancy controller is confirmed to be in normal condition; if the backup control command generated by the computing power redundancy controller is different from the target control command, then the computing power redundancy controller is confirmed to be not in normal condition, and an alarm is issued to inform the user that the computing power redundancy controller is abnormal.

[0162] Furthermore, in any of the above embodiments, sub-step S31 is followed by:

[0163] Sub-step S51: If the number of control instructions for each type is the same, and the number of control instructions for each type is greater than or equal to 2, then the operation of the first functional component is controlled by the control instructions of the computing power demand controller.

[0164] Sub-step S52: If the number of control instructions for each type is 1, then stop controlling the operation of the first functional component.

[0165] In this embodiment of the invention, if the control command generated by the computing power demand controller is different from any backup control command, it indicates that both the computing power demand controller and the computing power redundancy controller may be in an abnormal state. The control command and backup control command are compared and categorized according to a preset classification principle to obtain at least one type of control command. If the number of control commands in each type is the same, and if the number of control commands in each type is greater than or equal to 2, then the operation of the first functional component is controlled using the control command from the computing power demand controller.

[0166] If the number of control commands for each type is 1, then the operation of the first functional component will be stopped, or the vehicle's movement will be stopped. It should be noted that if the number of control commands for each type is 1, and the first functional component is of low importance in vehicle operation, the control commands generated by the computing power demand controller can continue to control the operation of the first functional component, and an alarm can be used to alert the user that the computing power demand controller may be malfunctioning.

[0167] In a specific example, if there is only one redundant computing controller in the vehicle, the redundant computing controller will generate only one backup control command. Since the computing demand controller also generates only one control command, IoO2 arbitration is used. That is, if the backup control command and the control command are the same, the computing demand controller is in a normal state; if the backup control command and the control command are different, the number of control commands of each type is 1, and both the computing demand controller and the redundant computing controller may not be in a normal state. The computing demand controller stops controlling the operation of the first functional component and uses an alarm to issue an alert to the user, which can also control the vehicle to stop. If the first functional component is of low importance in the vehicle's operation, the control command generated by the computing demand controller can continue to control the operation of the first functional component and use an alarm to issue an alert to the user.

[0168] In another specific example, if there are two redundant computing controllers in the vehicle, the redundant computing controller will generate two backup control commands. Since the computing demand controller only generates one control command, arbitration is performed using 2oo3. If the two backup control commands and the control command are identical, the computing demand controller is confirmed to be in a normal state, and the computing demand controller uses the control command to control the operation of the first functional component.

[0169] If the backup control command and the control command are different, both the computing power demand controller and the computing power redundancy controller may not be in a normal state. If the three control commands, consisting of the two backup control commands and one control command, are all different, then the number of control commands of each type is 1, and the computing power demand controller stops controlling the operation of the first functional component. If the first functional component is of low importance in vehicle operation, it can continue to be controlled using the control commands generated by the computing power demand controller, and an alarm can be issued to the user. If there are two identical control commands among the two backup control commands and one control command (i.e., the number of identical control commands is 2), and the number of the same type of control command is the largest among the different types of control commands included in the control command and backup control commands (i.e., 2 is greater than 1), then the identical control command is taken as the target control command for the first functional component, and the computing power demand controller uses the target control command to control the operation of the first functional component. In this case, the computing power demand controller and / or computing power redundancy controller that generate control commands of the same type as the target control command are in a normal state. The computing power demand controller and / or computing power redundancy controller that generate control commands of a different type than the target control command are in an abnormal state.

[0170] In this embodiment of the invention, if there is no identical control instruction between the control instruction and the backup control instruction, the operation of the first functional component is stopped, thus avoiding abnormal computing power demand from the controller controlling the operation of the first functional component and affecting the driving safety of the vehicle.

[0171] Reference Figure 3 This diagram illustrates a flowchart of another vehicle control method provided in an embodiment of the present invention, applied to a vehicle's computing power redundancy controller. The computing power redundancy controller is used to control the operation of at least one second functional component of the vehicle. The vehicle also includes a computing power demand controller, which is used to control the operation of at least one first functional component of the vehicle. The method includes:

[0172] Step 301: Based on the operating status of the second functional component and / or the operating status of the computing power redundancy controller, determine whether the computing power redundancy controller is in a preset computing power redundancy state.

[0173] In this embodiment of the invention, the controller in the vehicle includes at least one computing power redundancy controller and at least one computing power demand controller. The functional components in the vehicle include a second functional component controlled by the computing power redundancy controller and a first functional component controlled by the computing power demand controller. The computing power redundancy controller is a controller with high computing power, requiring significant computing power to generate control instructions for the second functional component and to control its operation. The computing power demand controller is a controller with low computing power, requiring less computing power to generate control instructions for the first functional component and to control its operation.

[0174] In this embodiment of the invention, the computing power redundancy controller can determine whether the computing power redundancy controller is in a preset computing power redundancy state based on the operating state of the second functional component controlled by the computing power redundancy controller and / or the operating state of the computing power redundancy controller.

[0175] Step 302: If the computing power redundancy controller is in the computing power redundancy state, send the first status information of the computing power redundancy controller to the computing power demand controller, and obtain the pending parameters of the first functional component returned by the computing power demand controller; the first status information is used to indicate that the computing power redundancy controller is in the computing power redundancy state.

[0176] In this embodiment of the invention, if the computing power redundancy controller is in a computing power redundancy state, it can send first status information to the computing power demand controller via the vehicle's CAN bus. The first status information indicates that the computing power redundancy controller is in a computing power redundancy state. The computing power redundancy controller can also use the vehicle's CAN bus to obtain the processing parameters of the first functional component sent by the computing power demand controller.

[0177] Step 303: Based on the parameters to be processed, generate a backup control instruction for the first functional component and send the backup control instruction to the computing power demand controller; the computing power demand controller is used to determine the target control instruction for the first functional component based on the backup control instruction.

[0178] In this embodiment of the invention, the computing power redundancy controller may be pre-installed with the controller algorithm of the computing power demand controller, and then the unprocessed parameters of the first functional component corresponding to the computing power demand controller are obtained using the CAN bus on the vehicle. The computing power redundancy controller can use the controller algorithm of the computing power demand controller to calculate the unprocessed parameters of the first functional component, generate backup control commands for the first functional component, and send the backup control commands to the computing power demand controller using the CAN bus.

[0179] In this embodiment of the invention, the computing power demand controller can calculate the parameters to be processed of the first functional component and generate control instructions for the first functional component. The computing power demand controller can arbitrate based on at least one backup control instruction generated by at least one redundant computing power controller and the control instruction generated by the computing power demand controller to determine whether the computing power demand controller is operating normally. The computing power demand controller can also determine the target control instruction for the first functional component when the computing power demand controller is in a normal state and an abnormal state, respectively, based on the backup control instruction and the control instruction, and use the target control instruction to control the operation of the first functional component.

[0180] In this embodiment of the invention, a computing power redundancy controller is used to control the operation of at least one second functional component of the vehicle. The vehicle also includes a computing power demand controller, which is used to control the operation of at least one first functional component of the vehicle. The computing power redundancy controller determines whether it is in a preset computing power redundancy state based on the operating status of the second functional component and / or the operating status of the computing power redundancy controller. If the computing power redundancy controller is in a computing power redundancy state, it sends its first status information to the computing power demand controller and obtains the pending parameters of the first functional component returned by the computing power demand controller. The first status information indicates that the computing power redundancy controller is in a computing power redundancy state. Based on the pending parameters, the computing power redundancy controller generates a backup control instruction for the first functional component and sends the backup control instruction to the computing power demand controller. The computing power demand controller determines the target control instruction for the first functional component based on the backup control instruction, thereby improving the computing power utilization rate of the computing power redundancy controller in the computing power redundancy state in the vehicle and using the computing power of the computing power redundancy controller in the computing power redundancy state for the safety verification of the entire vehicle, determining the target control instruction for the first functional component, and improving the overall vehicle safety performance.

[0181] Further, in any of the above embodiments, step 301 includes:

[0182] Sub-step S71: Based on the running status of the second functional component, determine whether the second functional component is running;

[0183] Sub-step S72: If any of the second functional components is not running, then confirm that the computing power redundancy controller is in the computing power redundancy state.

[0184] In this embodiment of the invention, the computing power redundancy controller is a controller with high computing power. The computing power redundancy controller requires significant computing power to generate control instructions for the second functional component and to control the operation of the second functional component. It can acquire the operating status of the second functional component corresponding to the computing power redundancy controller and determine whether the second functional component is running based on its operating status. If any second functional component is not running, it is confirmed that the computing power redundancy controller is in a computing power redundancy state, and thus the computing power of the computing power redundancy controller can be used to generate backup control instructions for the first functional component of the computing power demand controller.

[0185] In this embodiment of the invention, the operation status of the second functional component determines whether the computing power redundancy controller is in a computing power redundancy state. If the computing power redundancy controller is in a computing power redundancy state, the computing power of the computing power redundancy controller is used to generate backup control instructions for the first functional component of the computing power demand controller, thereby improving the computing power utilization rate of the computing power redundancy controller in a computing power redundancy state.

[0186] Further, in any of the above embodiments, the computing power redundancy controller is used to control the operation of the at least one second functional component using the computing power of the computing power redundancy controller; step 301 includes:

[0187] Sub-step S81: For any second functional component, if the computing power of the computing power redundancy controller corresponding to the second functional component is greater than the computing power of the computing power redundancy controller corresponding to the other second functional components, then the second functional component is taken as the target functional component.

[0188] Sub-step S82: Based on the operating status of the target functional component, determine whether the target functional component is running;

[0189] Sub-step S83: If the target functional component is not running, then confirm that the computing power redundancy controller is in the computing power redundancy state.

[0190] In this embodiment of the invention, a computing power redundancy controller is responsible for controlling at least one second functional component. The computing power required by the computing power redundancy controller to control the operation of different second functional components varies. For any second functional component, if the computing power of the computing power redundancy controller corresponding to the second functional component is greater than the computing power of the computing power redundancy controllers corresponding to the other second functional components, then the second functional component is designated as the target functional component. Based on the operating state of the target functional component, it is determined whether the target functional component is running. If the target functional component is not running, it is confirmed that the computing power redundancy controller is in a computing power redundancy state.

[0191] Further, in any of the above embodiments, the computing power redundancy controller includes a central processing unit; step 301 includes:

[0192] Sub-step S91: Based on the operating status of the computing power redundancy controller, confirm the load rate of the central processing unit;

[0193] In sub-step S92, if the load rate of the central processing unit is not greater than the preset load rate threshold, then the computing power redundancy controller is confirmed to be in the computing power redundancy state.

[0194] In this embodiment of the invention, the computing power redundancy controller includes a central processing unit (CPU). Based on the operating status of the computing power redundancy controller, the load rate of the CPU can be obtained, and it can be determined whether the computing power redundancy controller is in a computing power redundancy state based on the load rate. If the load rate of the CPU is not greater than a preset load rate threshold, it is confirmed that the computing power redundancy controller is in a computing power redundancy state. The preset load rate threshold can be 40% (percentage), 50%, etc., and this invention does not limit it.

[0195] Further, in any of the above embodiments, the method includes:

[0196] Sub-step S101: If the computing power redundancy controller is not in the computing power redundancy state, the second status information of the computing power redundancy controller is sent to the computing power demand controller; the second status information is used to indicate that the computing power redundancy controller is not in the computing power redundancy state; the computing power demand controller is used to control the operation of the first functional component based on the second status information and using the control instructions generated by the computing power demand controller.

[0197] In this embodiment of the invention, if the computing power redundancy controller is not in a computing power redundancy state, the computing power redundancy controller sends second status information to the computing power demand controller via the CAN bus. The second status information is used to indicate that the computing power redundancy controller is not in a computing power redundancy state.

[0198] The computing power demand controller confirms that the computing power redundancy controller is not in a computing power redundancy state based on the second state information. It then uses the control instructions generated by the computing power demand controller to control the operation of the first functional component, and no longer considers using the computing power of the computing power redundancy controller to generate backup control instructions for the first functional component.

[0199] Reference Figure 4 The diagram illustrates a flowchart of another vehicle control method provided by an embodiment of the present invention, which may specifically include the following steps:

[0200] Step 401, Begin.

[0201] Step 402: The vehicle is in operation.

[0202] Step 403: Is the computing power of the intelligent driving / cockpit controller idle? If idle, proceed to step 404; if not idle, proceed to step 411.

[0203] The computing power redundancy controller can be an intelligent driving / cockpit controller; idle indicates a computing power redundancy state. Based on the operating status of the second functional component corresponding to the computing power redundancy controller and / or the operating status of the computing power redundancy controller, it is determined whether the computing power redundancy controller is in a computing power redundancy state. If the computing power redundancy controller is not in a computing power redundancy state, then program flow 3 is executed, where the computing power demand controller uses its computing power to generate control instructions for the first functional component, and the computing power demand controller uses these control instructions to control the operation of the first functional component.

[0204] Step 404: Enter computing power redundancy mode.

[0205] Step 405: The computing power redundancy requirement controller sends input parameters.

[0206] Step 406: The intelligent driving / cockpit controller receives input parameters, runs relevant control algorithms, and sends back calculation results.

[0207] The computing power redundancy demand controller is essentially a computing power demand controller. Its input parameters are the parameters to be processed by the first functional component, and its control algorithm is the controller algorithm of the computing power demand controller. The computing power redundancy controller can be pre-installed with the controller algorithm of the computing power demand controller, and then uses the vehicle's CAN bus to obtain the parameters to be processed from the first functional component corresponding to the computing power demand controller. The computing power redundancy controller can use the controller algorithm of the computing power demand controller to calculate the parameters to be processed from the first functional component, generate backup control commands for the first functional component, and send the backup control commands to the computing power demand controller via the CAN bus.

[0208] Step 407: The computing power redundancy demand controller enters the security arbitration based on the intelligent driving / cockpit redundancy calculation results.

[0209] Step 408: Check if the calculation result of the computing power redundancy demand controller is consistent with the redundancy calculation result. If they are consistent, proceed to step 409. If they are inconsistent, proceed to step 410.

[0210] The result of the intelligent driving / cockpit redundancy calculation is the backup control command, and the result of the computing power redundancy demand controller is the control command. If the control command and the backup control command are consistent, the computing power demand controller is confirmed to be in normal condition, and program flow 2 is executed.

[0211] Step 409, security verification passed.

[0212] Step 410: Security verification fails, control algorithm result is incorrect, and the computing power redundancy requirement controller enters security mode according to voting mechanism 1oo2 or 2oo3.

[0213] If the control command and any backup control command are inconsistent, proceed to program flow 1. The control command and backup control commands are compared and categorized according to a preset classification principle to obtain at least one type of control command. The classification principle means that control commands that are identical to the backup control commands are grouped into one category. Based on the principle of majority rule, the control command of the most numerous type is selected as the target control command, and the operation of the first functional component is controlled by the target control command. If the control command generated by the computing power demand controller is the same as the target control command, the computing power demand controller is confirmed to be in a normal state; if the control command generated by the computing power demand controller is different from the target control command, the computing power demand controller is confirmed to be in an abnormal state, and an alarm is issued.

[0214] If the number of control instructions of each type is the same, and the number of control instructions of each type is greater than or equal to 2, then the operation of the first functional component is controlled by the control instructions of the computing power demand controller; if the number of control instructions of each type is 1, then the operation of the first functional component is stopped.

[0215] Step 411, End.

[0216] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0217] Reference Figure 5 The diagram shows a structural block diagram of a vehicle control system provided in an embodiment of the present invention, including a vehicle computing power demand controller 501 and a computing power redundancy controller 502.

[0218] The computing power demand controller 501 is used to obtain the parameters to be processed of the first functional component of the vehicle, and generate control instructions for the first functional component based on the parameters to be processed.

[0219] The computing power redundancy controller 502 is used to determine whether the computing power redundancy controller 502 is in a preset computing power redundancy state based on the operating state of the second functional component of the vehicle and / or the operating state of the computing power redundancy controller 502. If the computing power redundancy controller 502 is in the computing power redundancy state, the first status information of the computing power redundancy controller 502 is sent to the computing power demand controller 501; the first status information is used to indicate that the computing power redundancy controller 502 is in the computing power redundancy state.

[0220] The computing power demand controller 501 is used to obtain the first status information and, based on the first status information, determine whether the computing power redundancy controller 502 is in the computing power redundancy state. If the computing power redundancy controller 502 is in the computing power redundancy state, the parameter to be processed is sent to the computing power redundancy controller 502.

[0221] The computing power redundancy controller 502 is used to generate a backup control instruction for the first functional component based on the parameters to be processed, and send the backup control instruction to the computing power demand controller 501.

[0222] The computing power demand controller 501 is used to determine the target control instruction for the first functional component based on the backup control instruction and the control instruction, and to control the operation of the first functional component using the target control instruction.

[0223] In an optional embodiment of the present invention, the computing power redundancy controller 502 is configured to send a second status information of the computing power redundancy controller 502 to the computing power demand controller 501 if the computing power redundancy controller 502 is not in the computing power redundancy state; the second status information is used to indicate that the computing power redundancy controller 502 is not in the computing power redundancy state.

[0224] The computing power demand controller 501 is used to acquire the second status information and, based on the second status information, determine whether the computing power redundancy controller 502 is in the computing power redundancy state. If the computing power redundancy controller 502 is not in the computing power redundancy state, the controller uses the control command to control the operation of the first functional component.

[0225] In an optional embodiment of the present invention, the computing power demand controller 501 is configured to confirm that the computing power demand controller 501 is in a preset normal state if the control command and any of the backup control commands are the same.

[0226] The computing power demand controller 501 is used to take the control instruction as the target control instruction and use the target control instruction to control the operation of the first functional component.

[0227] In an optional embodiment of the present invention, the computing power demand controller 501 is used to compare and classify the control instruction and the backup control instruction according to a preset classification principle if the control instruction and any of the backup control instructions are different, so as to obtain at least one type of control instruction; wherein, the classification principle refers to classifying the control instructions and the backup control instructions that are the same into one category;

[0228] The computing power demand controller 501 is used to select the control instruction with the largest number of types as the target control instruction based on the principle of majority rule.

[0229] The computing power demand controller 501 is used to control the operation of the first functional component using the target control command.

[0230] In an optional embodiment of the invention, the vehicle also has an alarm;

[0231] The computing power demand controller 501 is used to confirm that the computing power demand controller 501 is in the normal state if the control command generated by the computing power demand controller 501 is the same as the target control command.

[0232] The computing power demand controller 501 is used to confirm that the computing power demand controller 501 is not in the normal state if the control command generated by the computing power demand controller 501 is different from the target control command, and to issue an alarm using the alarm.

[0233] In an optional embodiment of the present invention, the computing power demand controller 501 is used to control the operation of the first functional component by means of the control instructions of the computing power demand controller 501 when the number of control instructions of each type is the same and the number of control instructions of each type is greater than or equal to 2.

[0234] The computing power demand controller 501 is used to stop controlling the operation of the first functional component if the number of control instructions of each type is 1.

[0235] In an optional embodiment of the present invention, the computing power redundancy controller 502 is used to determine whether the second functional component is running based on the operating status of the second functional component;

[0236] The computing power redundancy controller 502 is used to confirm that the computing power redundancy controller 502 is in the computing power redundancy state if any of the second functional components is not running.

[0237] In an optional embodiment of the present invention, the computing power redundancy controller 502 is used to control the operation of the at least one second functional component using the computing power of the computing power redundancy controller 502;

[0238] The computing power redundancy controller 502 is used to target any second functional component if the computing power of the computing power redundancy controller 502 corresponding to the second functional component is greater than the computing power of the computing power redundancy controller 502 corresponding to the other second functional components.

[0239] The computing power redundancy controller 502 is used to determine whether the target functional component is running based on the operating status of the target functional component;

[0240] The computing power redundancy controller 502 is used to confirm that the computing power redundancy controller 502 is in the computing power redundancy state if the target functional component is not running.

[0241] In an optional embodiment of the present invention, the computing power redundancy controller 502 includes a central processing unit;

[0242] The computing power redundancy controller 502 is used to determine the load rate of the central processing unit based on the operating status of the computing power redundancy controller 502.

[0243] The computing power redundancy controller 502 is used to confirm that the computing power redundancy controller 502 is in the computing power redundancy state if the load rate of the central processing unit is not greater than a preset load rate threshold.

[0244] Reference Figure 6 This diagram illustrates a structural block diagram of a vehicle control device provided in an embodiment of the present invention. The device is applied to a vehicle's computing power demand controller, which controls the operation of at least one first functional component of the vehicle. The vehicle also includes at least one computing power redundancy controller. The device comprises:

[0245] The parameter acquisition module 601 is used to acquire the parameters to be processed of the first functional component and generate control instructions for the first functional component based on the parameters to be processed.

[0246] The status information acquisition module 602 is used to acquire the status information of the computing power redundancy controller sent by the computing power redundancy controller, and determine whether the computing power redundancy controller is in a preset computing power redundancy state based on the status information.

[0247] The parameter to be processed sending module 603 is used to send the parameter to be processed to the computing power redundancy controller if the computing power redundancy controller is in the computing power redundancy state, and to obtain the backup control instruction of the first functional component returned by the computing power redundancy controller; the backup control instruction is generated by the computing power redundancy controller based on the parameter to be processed.

[0248] The target control instruction determination module 604 is used to determine the target control instruction of the first functional component based on the backup control instruction and the control instruction, and to control the operation of the first functional component using the target control instruction.

[0249] In an optional embodiment of the present invention, the device includes:

[0250] The control module is used to control the operation of the first functional component using the control instructions if the computing power redundancy controller is not in the computing power redundancy state.

[0251] In an optional embodiment of the present invention, the target control command determination module includes:

[0252] The first normal state confirmation submodule is used to confirm that the computing power demand controller is in a preset normal state if the control command and any of the backup control commands are the same.

[0253] The first operation control submodule is used to take the control instruction as the target control instruction and use the target control instruction to control the operation of the first functional component.

[0254] In an optional embodiment of the present invention, the target control command determination module includes:

[0255] The classification submodule is used to compare and classify the control instruction and the backup control instruction according to a preset classification principle if the control instruction and any backup control instruction are different, so as to obtain at least one type of control instruction; wherein, the classification principle means that the control instructions and the backup control instructions that are the same are classified into one category.

[0256] As a submodule, it is used to select the most numerous type of control instruction as the target control instruction based on the principle of majority rule.

[0257] The second operation control submodule is used to control the operation of the first functional component using the target control command.

[0258] In an optional embodiment of the present invention, the vehicle further includes an alarm; the target control command determination module includes:

[0259] The second normal state confirmation submodule is used to confirm that the computing power demand controller is in the normal state if the control command generated by the computing power demand controller is the same as the target control command.

[0260] The alarm issuing submodule is used to confirm that the computing power demand controller is not in the normal state if the control command generated by the computing power demand controller is different from the target control command, and to issue an alarm using the alarm device.

[0261] In an optional embodiment of the present invention, the target control command determination module includes:

[0262] The third operation control submodule is used to control the operation of the first functional component by means of the control instructions of the computing power demand controller if the number of control instructions of each type is greater than or equal to 2, when the number of control instructions of each type is the same.

[0263] The control stop submodule is used to stop controlling the operation of the first functional component if the number of control commands of each type is 1.

[0264] Reference Figure 7 This diagram illustrates a structural block diagram of another vehicle control device provided in an embodiment of the present invention, applied to a vehicle's computing power redundancy controller. The computing power redundancy controller is used to control the operation of at least one second functional component of the vehicle. The vehicle also includes a computing power demand controller, which is used to control the operation of at least one first functional component of the vehicle. The device includes:

[0265] The computing power redundancy status judgment module 701 is used to determine whether the computing power redundancy controller is in a preset computing power redundancy state based on the operating status of the second functional component and / or the operating status of the computing power redundancy controller.

[0266] The first status information sending module 702 is used to send the first status information of the computing power redundancy controller to the computing power demand controller if the computing power redundancy controller is in the computing power redundancy state, and to obtain the pending parameters of the first functional component returned by the computing power demand controller; the first status information is used to indicate that the computing power redundancy controller is in the computing power redundancy state.

[0267] The backup control instruction generation module 703 is used to generate backup control instructions for the first functional component based on the parameters to be processed, and send the backup control instructions to the computing power demand controller; the computing power demand controller is used to determine the target control instructions for the first functional component based on the backup control instructions.

[0268] In an optional embodiment of the present invention, the computing power redundancy status determination module includes:

[0269] The first operation judgment submodule is used to determine whether the second functional component is running based on the running status of the second functional component;

[0270] The first confirmation submodule is used to confirm that the computing power redundancy controller is in the computing power redundancy state if any of the second functional components is not running.

[0271] In an optional embodiment of the present invention, the computing power redundancy controller is used to control the operation of the at least one second functional component using the computing power of the computing power redundancy controller; the computing power redundancy status judgment module includes:

[0272] The target functional component is used as a sub-module to determine whether, for any second functional component, if the computing power of the computing power redundancy controller corresponding to the second functional component is greater than the computing power of the computing power redundancy controller corresponding to the other second functional components, then the second functional component is designated as the target functional component.

[0273] The second operation judgment submodule is used to determine whether the target functional component is running based on the running status of the target functional component;

[0274] The second confirmation submodule is used to confirm that the computing power redundancy controller is in the computing power redundancy state if the target functional component is not running.

[0275] In an optional embodiment of the present invention, the computing power redundancy controller includes a central processing unit; the computing power redundancy status determination module includes:

[0276] The load rate confirmation submodule is used to confirm the load rate of the central processing unit based on the operating status of the computing power redundancy controller.

[0277] The third confirmation submodule is used to confirm that the computing power redundancy controller is in the computing power redundancy state if the load rate of the central processing unit is not greater than a preset load rate threshold.

[0278] In an optional embodiment of the present invention, the device includes:

[0279] The sending module is configured to send the second status information of the computing power redundancy controller to the computing power demand controller if the computing power redundancy controller is not in the computing power redundancy state; the second status information is used to indicate that the computing power redundancy controller is not in the computing power redundancy state; the computing power demand controller is configured to control the operation of the first functional component based on the second status information and using the control instructions generated by the computing power demand controller.

[0280] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0281] In addition, embodiments of the present invention also provide an electronic device, such as... Figure 8 As shown, it includes a processor 801, a communication interface 802, a memory 803, and a communication bus 804. The processor 801, communication interface 802, and memory 803 communicate with each other via the communication bus 804.

[0282] Memory 803 is used to store computer programs;

[0283] When processor 801 executes a program stored in memory 803, it performs the following steps:

[0284] Obtain the parameters to be processed of the first functional component, and generate control instructions for the first functional component based on the parameters to be processed;

[0285] Obtain the status information of the computing power redundancy controller sent by the computing power redundancy controller, and determine whether the computing power redundancy controller is in a preset computing power redundancy state based on the status information.

[0286] If the computing power redundancy controller is in the computing power redundancy state, the parameters to be processed are sent to the computing power redundancy controller, and the backup control instruction of the first functional component returned by the computing power redundancy controller is obtained; the backup control instruction is generated by the computing power redundancy controller based on the parameters to be processed.

[0287] Based on the backup control command and the control command, a target control command for the first functional component is determined, and the operation of the first functional component is controlled using the target control command.

[0288] In an optional embodiment of the present invention, the method includes:

[0289] If the computing power redundancy controller is not in the computing power redundancy state, the operation of the first functional component is controlled by the control command.

[0290] In an optional embodiment of the present invention, the step of determining a target control instruction for the first functional component based on the backup control instruction and the control instruction, and controlling the operation of the first functional component using the target control instruction, includes:

[0291] If the control command and any of the backup control commands are the same, then the computing power demand controller is confirmed to be in a preset normal state.

[0292] The control command is used as the target control command, and the operation of the first functional component is controlled by the target control command.

[0293] In an optional embodiment of the present invention, the step of determining a target control instruction for the first functional component based on the backup control instruction and the control instruction, and controlling the operation of the first functional component using the target control instruction, includes:

[0294] If the control instruction is different from any of the backup control instructions, the control instruction and the backup control instructions are compared and classified according to a preset classification principle to obtain at least one type of control instruction; wherein, the classification principle means that the control instructions and the backup control instructions that are the same are classified into one category.

[0295] Based on the principle of majority rule, the control command with the largest number of types is taken as the target control command;

[0296] The operation of the first functional component is controlled using the target control command.

[0297] In an optional embodiment of the invention, the vehicle further includes an alarm; the step of using the most numerous type of control command as the target control command is followed by:

[0298] If the control command generated by the computing power demand controller is the same as the target control command, then the computing power demand controller is confirmed to be in the normal state.

[0299] If the control command generated by the computing power demand controller is different from the target control command, it is confirmed that the computing power demand controller is not in the normal state, and an alarm is issued using the alarm device.

[0300] In an optional embodiment of the present invention, the step of comparing and classifying the control command and the backup control command according to a preset classification principle to obtain at least one type of control command includes:

[0301] If the number of control instructions for each type is the same, and the number of control instructions for each type is greater than or equal to 2, then the operation of the first functional component is controlled by the control instructions of the computing power demand controller.

[0302] If the number of control commands for each type is 1, then the operation of the first functional component is stopped.

[0303] When the processor 801 executes the program stored in the memory 803, it also performs the following steps:

[0304] Based on the operating status of the second functional component and / or the operating status of the computing power redundancy controller, determine whether the computing power redundancy controller is in a preset computing power redundancy state.

[0305] If the computing power redundancy controller is in the computing power redundancy state, the first status information of the computing power redundancy controller is sent to the computing power demand controller to obtain the pending parameters of the first functional component returned by the computing power demand controller; the first status information is used to indicate that the computing power redundancy controller is in the computing power redundancy state.

[0306] Based on the parameters to be processed, a backup control instruction for the first functional component is generated, and the backup control instruction is sent to the computing power demand controller; the computing power demand controller is used to determine the target control instruction for the first functional component based on the backup control instruction.

[0307] In an optional embodiment of the present invention, the step of determining whether the computing power redundancy controller is in a preset computing power redundancy state based on the operating state of the second functional component and / or the operating state of the computing power redundancy controller includes:

[0308] Based on the running status of the second functional component, determine whether the second functional component is running;

[0309] If any of the second functional components is not running, then the computing power redundancy controller is confirmed to be in the computing power redundancy state.

[0310] In an optional embodiment of the present invention, the computing power redundancy controller is used to control the operation of at least one second functional component using the computing power of the computing power redundancy controller; the step of determining whether the computing power redundancy controller is in a preset computing power redundancy state based on the operating state of the second functional component and / or the operating state of the computing power redundancy controller includes:

[0311] For any second functional component, if the computing power of the computing power redundancy controller corresponding to the second functional component is greater than the computing power of the computing power redundancy controller corresponding to the other second functional components, then the second functional component is taken as the target functional component.

[0312] Based on the running status of the target functional component, determine whether the target functional component is running;

[0313] If the target functional component is not running, then the computing power redundancy controller is confirmed to be in the computing power redundancy state.

[0314] In an optional embodiment of the present invention, the computing power redundancy controller includes a central processing unit; the step of determining whether the computing power redundancy controller is in a preset computing power redundancy state based on the operating state of the second functional component and / or the operating state of the computing power redundancy controller includes:

[0315] Based on the operating status of the computing power redundancy controller, the load rate of the central processing unit is confirmed;

[0316] If the load rate of the central processing unit is not greater than the preset load rate threshold, then the computing power redundancy controller is confirmed to be in the computing power redundancy state.

[0317] In an optional embodiment of the present invention, the method includes:

[0318] If the computing power redundancy controller is not in the computing power redundancy state, the second status information of the computing power redundancy controller is sent to the computing power demand controller; the second status information is used to indicate that the computing power redundancy controller is not in the computing power redundancy state; the computing power demand controller is used to control the operation of the first functional component based on the second status information and using the control instructions generated by the computing power demand controller.

[0319] The communication bus mentioned above can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0320] The communication interface is used for communication between the aforementioned terminal and other devices.

[0321] The memory may include random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0322] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0323] like Figure 9 As shown, in another embodiment of the present invention, a computer-readable storage medium 901 is also provided, which stores instructions that, when executed on a computer, cause the computer to perform the vehicle control method described in the above embodiments.

[0324] In another embodiment of the present invention, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to execute the vehicle control method described in the above embodiments.

[0325] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (SSD)).

[0326] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0327] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0328] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A vehicle control method characterized by, A computing power demand controller applied to a vehicle, the computing power demand controller being configured to control operation of at least one first functional component of the vehicle, the vehicle further comprising at least one computing power redundancy controller, the method comprising: obtaining a to-be-processed parameter of the first functional component, and generating a control instruction of the first functional component based on the to-be-processed parameter; obtaining state information of the computing power redundancy controller sent by the computing power redundancy controller, and determining whether the computing power redundancy controller is in a preset computing power redundancy state based on the state information; if the computing power redundancy controller is in the computing power redundancy state, sending the to-be-processed parameter to the computing power redundancy controller, and obtaining a backup control instruction of the first functional component returned by the computing power redundancy controller; the backup control instruction is generated by the computing power redundancy controller based on the to-be-processed parameter; determining a target control instruction of the first functional component based on the backup control instruction and the control instruction, and controlling operation of the first functional component by using the target control instruction.

2. The method of claim 1, wherein, The method comprises: if the computing power redundancy controller is not in the computing power redundancy state, controlling operation of the first functional component by using the control instruction.

3. The method of claim 1, wherein, The step of determining a target control instruction of the first functional component based on the backup control instruction and the control instruction, and controlling operation of the first functional component by using the target control instruction comprises: if the control instruction and any one of the backup control instructions are the same, it is determined that the computing power demand controller is in a preset normal state; the control instruction is taken as the target control instruction, and operation of the first functional component is controlled by using the target control instruction.

4. The method of claim 3, wherein, The step of determining a target control instruction of the first functional component based on the backup control instruction and the control instruction, and controlling operation of the first functional component by using the target control instruction comprises: if the control instruction and any one of the backup control instructions are different, the control instruction and the backup control instruction are compared and classified according to a preset classification principle to obtain at least one kind of control instruction; wherein the classification principle refers to classifying the same control instructions in the control instruction and the backup control instruction into one category; based on the principle of minority submitting to majority, the control instruction of the kind with the largest quantity is taken as the target control instruction; operation of the first functional component is controlled by using the target control instruction.

5. The method of claim 4, wherein, The vehicle further has a siren; the step of taking the control instruction of the kind with the largest quantity as the target control instruction comprises: if the control instruction generated by the computing power demand controller is the same as the target control instruction, it is determined that the computing power demand controller is in the normal state; if the control instruction generated by the computing power demand controller is different from the target control instruction, it is determined that the computing power demand controller is not in the normal state, and a warning is given by using the siren.

6. The method of claim 4, wherein, The step of comparing and classifying the control instructions and the backup control instructions according to a preset classification principle to obtain at least one kind of control instruction comprises: In the case that the number of control instructions in each category is the same, if the number of control instructions in each category is greater than or equal to 2, the operation of the first functional component is controlled by the control instruction of the computing power demand controller; If the number of control instructions in each category is 1, the operation of the first functional component is stopped.

7. A vehicle control method characterized by The computing power redundancy controller applied to a vehicle is used to control the operation of at least one second functional component of the vehicle. The vehicle further comprises a computing power demand controller used to control the operation of at least one first functional component of the vehicle. The method comprises: Based on the operation state of the second functional component and / or the operation state of the computing power redundancy controller, it is determined whether the computing power redundancy controller is in a preset computing power redundancy state; If the computing power redundancy controller is in the computing power redundancy state, the first state information of the computing power redundancy controller is sent to the computing power demand controller, and the to-be-processed parameter of the first functional component returned by the computing power demand controller is obtained; the first state information is used to indicate that the computing power redundancy controller is in the computing power redundancy state; Based on the to-be-processed parameter, a backup control instruction of the first functional component is generated, and the backup control instruction is sent to the computing power demand controller; the computing power demand controller is used to determine the target control instruction of the first functional component based on the backup control instruction.

8. The method of claim 7, wherein, The step of determining whether the computing power redundancy controller is in a preset computing power redundancy state based on the operation state of the second functional component and / or the operation state of the computing power redundancy controller comprises: Based on the operation state of the second functional component, it is determined whether the second functional component is running; If any of the second functional components is not running, it is determined that the computing power redundancy controller is in the computing power redundancy state.

9. The method of claim 7, wherein, The computing power redundancy controller is used to control the operation of the at least one second functional component by using the computing power of the computing power redundancy controller; the step of determining whether the computing power redundancy controller is in a preset computing power redundancy state based on the operation state of the second functional component and / or the operation state of the computing power redundancy controller comprises: For any second functional component, if the computing power of the computing power redundancy controller corresponding to the second functional component is greater than the computing power of the computing power redundancy controller corresponding to the remaining second functional components, the second functional component is taken as a target functional component; Based on the operation state of the target functional component, it is determined whether the target functional component is running; If the target functional component is not running, it is determined that the computing power redundancy controller is in the computing power redundancy state.

10. The method of claim 7, wherein, The computing power redundancy controller comprises a central processing unit; the step of determining whether the computing power redundancy controller is in a preset computing power redundancy state based on the operation state of the second functional component and / or the operation state of the computing power redundancy controller comprises: confirming a load rate of the central processor based on an operating state of the computing power redundancy controller; if the load rate of the central processor is not greater than a preset load rate threshold, confirming that the computing power redundancy controller is in the computing power redundancy state.

11. The method according to any one of claims 7-10, characterized in that, The method comprises: if the computing power redundancy controller is not in the computing power redundancy state, sending second state information of the computing power redundancy controller to the computing power demand controller; the second state information is used to indicate that the computing power redundancy controller is not in the computing power redundancy state; and the computing power demand controller is used to control the operation of the first functional component by using the control instruction generated by the computing power demand controller based on the second state information.

12. A vehicle control system characterized by comprising: The computing power demand controller and the computing power redundancy controller of a vehicle are included. The computing power demand controller is used to obtain a to-be-processed parameter of a first functional component of the vehicle, and generate a control instruction of the first functional component based on the to-be-processed parameter. The computing power redundancy controller is used to determine whether the computing power redundancy controller is in a preset computing power redundancy state based on an operating state of a second functional component of the vehicle and / or an operating state of the computing power redundancy controller, and if the computing power redundancy controller is in the computing power redundancy state, send first state information of the computing power redundancy controller to the computing power demand controller; the first state information is used to indicate that the computing power redundancy controller is in the computing power redundancy state. The computing power demand controller is used to obtain the first state information, and determine whether the computing power redundancy controller is in the computing power redundancy state based on the first state information, and if the computing power redundancy controller is in the computing power redundancy state, send the to-be-processed parameter to the computing power redundancy controller. The computing power redundancy controller is used to generate a backup control instruction of the first functional component based on the to-be-processed parameter, and send the backup control instruction to the computing power demand controller. The computing power demand controller is used to determine a target control instruction of the first functional component based on the backup control instruction and the control instruction, and control the operation of the first functional component by using the target control instruction.

13. A vehicle control device characterized by comprising: The computing power demand controller applied to a vehicle is used to control the operation of at least one first functional component of the vehicle, and the vehicle further includes at least one computing power redundancy controller, and the device comprises: a to-be-processed parameter obtaining module, which is used to obtain a to-be-processed parameter of the first functional component, and generate a control instruction of the first functional component based on the to-be-processed parameter; a state information obtaining module, which is used to obtain state information of the computing power redundancy controller sent by the computing power redundancy controller, and determine whether the computing power redundancy controller is in a preset computing power redundancy state based on the state information; and The parameter sending module is configured to send the to-be-processed parameter to the computing power redundancy controller and acquire backup control instructions of the first functional component returned by the computing power redundancy controller if the computing power redundancy controller is in the computing power redundancy state; the backup control instructions are generated by the computing power redundancy controller based on the to-be-processed parameter; The target control instruction determination module is configured to determine target control instructions of the first functional component based on the backup control instructions and the control instructions, and control the operation of the first functional component by using the target control instructions.

14. A vehicle control device characterized by comprising: The computing power redundancy controller applied to a vehicle is configured to control the operation of at least one second functional component of the vehicle, and the vehicle further comprises a computing power demand controller configured to control the operation of at least one first functional component of the vehicle, and the device comprises: The computing power redundancy state judgment module is configured to judge whether the computing power redundancy controller is in a preset computing power redundancy state based on the operation state of the second functional component and / or the operation state of the computing power redundancy controller; The first state information sending module is configured to send first state information of the computing power redundancy controller to the computing power demand controller if the computing power redundancy controller is in the computing power redundancy state, and acquire to-be-processed parameters of the first functional component returned by the computing power demand controller; the first state information is used to indicate that the computing power redundancy controller is in the computing power redundancy state; The backup control instruction generation module is configured to generate backup control instructions of the first functional component based on the to-be-processed parameters, and send the backup control instructions to the computing power demand controller; the computing power demand controller is configured to determine target control instructions of the first functional component based on the backup control instructions.

15. An electronic device, comprising: The device comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete communication with each other through the communication bus; The memory is used to store a computer program; The processor is used to execute the program stored on the memory, and implement the method in any one of claims 1-6 or claims 7-11.

16. One or more computer-readable media having instructions stored thereon that, when executed by one or more processors, cause the processors to perform the method in any one of claims 1-6 or claims 7-11.

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