Vehicle control method and device

Abstract

A vehicle control method and device, the method comprising: a management module sends a first negotiation request to a first service module to consult whether the first service module agrees to switch the state of a vehicle from a first state to a second state; and receiving a first negotiation feedback sent by the first service module based on the first negotiation request. According to the vehicle state switching method and device, decomposition of functions related to switching of the vehicle states is achieved, the coupling degree between the vehicle functions is reduced, the complexity of a vehicle system is reduced, and the stability of vehicle control is improved.

Description

A vehicle control method and device Technical Field

[0001] The present application relates to the vehicle field, and in particular to a whole vehicle control method and device. Background Art

[0002] The four new trends in the automotive industry—connectivity, electrification, intelligence, and sharing—are placing new demands on automotive development. As vehicle functions become increasingly complex, controlling vehicle status is becoming increasingly challenging.

[0003] For example, a signal-based distributed electronic and electrical architecture is currently used to achieve vehicle control. The control system on the vehicle is centered on the electronic control unit ECU. Each function on the vehicle corresponds to at least one ECU, that is, the hardware and function are coupled with each other, and ECUs communicate with each other point-to-point based on signals. Different ECUs have different signal sending cycles. When designing a vehicle state switching solution, it is necessary to consider factors such as the coupling relationship between the functions of each ECU and the complex timing relationship between ECUs. This makes the design of the vehicle state switching solution difficult and the functional design complex.

[0004] Summary of the Invention

[0005] The present application discloses a whole vehicle control method and device, which can reduce the coupling degree between whole vehicle functions and improve the reliability of whole vehicle control.

[0006] In a first aspect, the present application provides a vehicle control method, which includes: sending a first negotiation request to a first business module, the first negotiation request being used to inquire whether the first business module agrees to switch the vehicle's state from a first state to a second state; and receiving a first negotiation feedback sent by the first business module, the first negotiation feedback being associated with the first negotiation request.

[0007] The method is applied to a management module, which may be, for example, a domain controller on a vehicle or a component within a domain controller on a vehicle, such as a chip, a line card, or an integrated circuit, wherein the domain controller may be, for example, a vehicle domain controller (VDC), a mobile data center (MDC), a cockpit domain controller (CDC), a domain controller integrating VDC functions and MDC functions, a domain controller integrating VDC functions and CDC functions, a domain controller integrating MDC functions and CDC functions, and a domain controller integrating VDC functions, MDC functions, and CDC functions.

[0008] The first service module carries a corresponding service, for example, a first service. A service may also be referred to as an application, function, or service. In this application, the first service module carries a corresponding service, which may include data corresponding to the corresponding service and at least one item in the processing process that can be implemented by the first service module.

[0009] The status of the vehicle can be understood to include: the status or mode that the vehicle presents to the outside world when the user is using the vehicle. For example, the status of the vehicle can be divided into one or more of the following: waiting status, driving status, comfort status, charging status (for electric vehicles), parking status, etc. Among them, the waiting status may indicate that the vehicle is unlocked but the vehicle is not started, the driving status may indicate that the vehicle is started and is in the process of driving, the comfort status may indicate that the vehicle has turned on the air conditioner while driving, the charging status may indicate that the vehicle is not unlocked but is currently charging, and the parking status may indicate that the vehicle is not unlocked. It can be understood that the status of the vehicle can also be referred to as the vehicle status, the whole vehicle status, the vehicle mode or the whole vehicle mode, which is not specifically limited here.

[0010] Here, the first negotiation feedback being associated with the first negotiation request can be understood as the first negotiation feedback being a response to the first negotiation request, or as the first negotiation feedback being sent by the first service module based on the first negotiation request.

[0011] In the above method, based on the negotiation feedback sent by the business module, it can be known whether the corresponding business module agrees to the switching of the vehicle status. That is to say, the business module related to the vehicle status switching needs to send negotiation feedback. The business module itself carries the business, that is, the business module itself is responsible for implementing the corresponding functions, and the functions of different business modules are decoupled from each other. Therefore, through the negotiation feedback sent by the business module, the decomposition of functions related to the switching of the vehicle status is realized, the coupling degree between vehicle functions is reduced, which is conducive to reducing the complexity of the vehicle system and improving the stability of the vehicle control.

[0012] Optionally, the method also includes: sending a second negotiation request to the second business module, the second negotiation request being used to inquire whether the second business module agrees to switch the status of the entire vehicle from the first state to the second state; receiving second negotiation feedback sent by the second business module, the second negotiation feedback being associated with the second negotiation request; and sending a negotiation result to the first business module and the second business module, the negotiation result being obtained based on the first negotiation feedback and the second negotiation feedback.

[0013] The second business module and the first business module are business modules related to the state change of the vehicle from the first state to the second state.

[0014] Here, the negotiation result is obtained based on the first negotiation feedback and the second negotiation feedback, which also indicates that the negotiation result is associated with the first negotiation feedback and the second negotiation feedback.

[0015] By implementing the above-mentioned implementation method, the management module can send a negotiation request to multiple business modules related to the switching of the vehicle status to inquire whether each business module agrees to switch the vehicle status from the first state to the second state, and obtain the negotiation result based on the negotiation feedback of each business module on the negotiation request. In this way, coordinated control of whether multiple functionally decoupled business modules execute the switching of the vehicle status is achieved, which effectively reduces the development difficulty of vehicle system design.

[0016] Optionally, before sending the first negotiation request to the first business module, the method further includes: receiving a state transition request sent by the first business module, the state transition request being used to request that the state of the vehicle be switched from the first state to the second state, and the first negotiation request being associated with the state transition request.

[0017] Here, the first negotiation request being associated with the state transition request may be understood as the first negotiation request being a response to the state transition request, or as the first negotiation request being sent based on the state transition request.

[0018] It can be seen that the business module that makes the state transition request and the business module that receives the negotiation request can be the same business module, that is, the business module can both make the state transition request and determine whether it agrees to the vehicle state switch based on the negotiation request. In this way, the decoupling of vehicle functions is achieved, the coupling between vehicle functions is effectively reduced, and the complexity of the vehicle system is reduced.

[0019] Optionally, before sending the first negotiation request to the first business module, the method further includes: receiving a state transition request sent by the second business module, the state transition request being used to request that the state of the vehicle be switched from the first state to the second state, and the first negotiation request being associated with the state transition request.

[0020] It can be seen that the business module that makes a state transition request and the business module that receives the negotiation request can be different business modules. That is to say, when a business module makes a state transition request, each business module related to the switching of the vehicle state will receive the negotiation request sent by the management module, thereby decomposing the vehicle state management function into multiple decoupled partners, reducing the complexity of the vehicle system, and improving the reliability of the vehicle state control.

[0021] Optionally, when both the first negotiation feedback and the second negotiation feedback indicate agreement to switch the state of the vehicle from the first state to the second state, the negotiation result indicates execution of the switching of the state of the vehicle; or, when the first negotiation feedback or the second negotiation feedback indicates disagreement to switch the state of the vehicle from the first state to the second state, the negotiation result indicates not execution of the switching of the state of the vehicle.

[0022] It can be seen that the negotiation result is jointly determined by the negotiation feedback of at least one business module related to the switching of the vehicle state. In this way, coordinated control of whether multiple functionally decoupled business modules execute the switching of the vehicle state is achieved.

[0023] Optionally, the method also includes: sending priority indication information to the first business module, the priority indication information is used to indicate the priority of the second state; the first negotiation feedback is associated with the first negotiation request specifically: the first negotiation feedback is associated with the first negotiation request and the priority indication information.

[0024] The priority indication information can be used to force the service module to agree to switch the vehicle state from the first state to the second state. In other words, the first negotiation feedback can be influenced by the priority indication information.

[0025] Optionally, the management module is deployed in the first domain controller of the vehicle.

[0026] Among them, the first domain controller can be, for example, a vehicle domain controller (VDC), a mobile data center (MDC), a cockpit domain controller (CDC), a domain controller that integrates VDC functions and MDC functions, a domain controller that integrates VDC functions and CDC functions, a domain controller that integrates MDC functions and CDC functions, and a domain controller that integrates VDC functions, MDC functions and CDC functions.

[0027] Optionally, the first service module is deployed on the second domain controller of the vehicle. It can be seen that the first service module and the management module can be deployed on different domain controllers.

[0028] Optionally, the first service module is deployed on a vehicle integrated unit (VIU) of the vehicle. It can be seen that the first service module can also be deployed on the VIU, increasing the diversity of deployment methods of service modules on the vehicle.

[0029] Optionally, the first service module is deployed on the first domain controller of the vehicle. As can be seen, the first service module and the management module can be deployed on the same domain controller.

[0030] In the second aspect, the present application provides a vehicle control method, which includes: receiving a first negotiation request sent by a management module, the first negotiation request being used to consult the first business module whether it agrees to switch the vehicle's state from a first state to a second state; and sending a first negotiation feedback to the management module based on the first negotiation request.

[0031] The method is applied to a first business module. The first business module may be, for example, a component within a domain controller or a component within a VIU. The component may be, for example, a chip, a line card, or an integrated circuit, etc. The domain controller may be, for example, a VDC, an MDC, a CDC, a domain controller integrating VDC functions and MDC functions, a domain controller integrating VDC functions and CDC functions, a domain controller integrating MDC functions and CDC functions, and a domain controller integrating VDC functions, MDC functions, and CDC functions.

[0032] Here, sending the first negotiation feedback to the management module based on the first negotiation request can be understood as the first negotiation feedback being a response to the first negotiation request, or as the first negotiation feedback being associated with the first negotiation request.

[0033] In the above method, in response to the received negotiation request, the business module informs the management mode itself whether it agrees to switch the vehicle state from the first state to the second state by sending negotiation feedback, thereby realizing the decomposition of functions related to the switching of the vehicle state, reducing the coupling between vehicle functions, and helping to reduce the complexity of the vehicle system and improve the stability of the vehicle control.

[0034] Optionally, before receiving the first negotiation request sent by the management module, the method further includes: sending a state transition request to the management module, wherein the state transition request is used to request switching the state of the vehicle from the first state to the second state.

[0035] Here, the first negotiation request is associated with the state transition request.

[0036] It can be seen that the business module can act as both the initiator of state transition requests and the receiver of negotiation requests. In this way, the decoupling of vehicle functions is achieved, the coupling between vehicle functions is effectively reduced, and the complexity of the vehicle system is reduced.

[0037] Optionally, the method further includes: determining, based on the first negotiation request, whether the status of the vehicle component corresponding to the first business module meets the conditions required for the vehicle to switch from the first status to the second status, and obtaining the first negotiation feedback.

[0038] In this way, when the business module obtains negotiation feedback, it only needs to focus on the conditions required for vehicle state switching related to itself, realizing the decomposition of functions related to state control, reducing the coupling between business modules, and reducing the complexity of the entire vehicle system.

[0039] Optionally, the method also includes: receiving priority indication information sent by the management module, the priority indication information being used to indicate the priority of the second state; and sending first negotiation feedback to the management module based on the first negotiation request, including: sending the first negotiation feedback to the management module based on the first negotiation request and the priority indication information.

[0040] Here, the priority of the second state indicates the urgency or urgency of switching to the second state. A higher priority of the second state means a more urgent event of switching to the second state.

[0041] It can be seen that the first negotiation feedback is associated with the first negotiation request and the priority indication information, and the priority indication information may affect the first negotiation result.

[0042] Optionally, the method further includes: obtaining the first negotiation feedback according to the first negotiation request and the priority indication information.

[0043] That is, the first negotiation result is determined by the first negotiation request and the priority indication information, and the priority indication information may affect the first negotiation result.

[0044] Optionally, based on the first negotiation request, it is determined that the state of the vehicle parts corresponding to the first business module does not meet the conditions required for the vehicle state to be switched from the first state to the second state, and the priority of the second state is greater than a preset threshold or the priority of the second state is higher than the priority of the first state, the first negotiation feedback indicates agreement to switch the vehicle state from the first state to the second state.

[0045] It can be seen that when the business module determines that the status of the vehicle parts corresponding to itself does not meet the conditions required for the vehicle status to switch from the first state to the second state, the priority indication information can be used to force the business module to agree to switch the vehicle status from the first state to the second state. In this way, when switching to the second state is more urgent, the priority indication information can be used to influence the corresponding negotiation feedback of the relevant business modules, thereby realizing the control of the entire vehicle status.

[0046] Optionally, the method further includes: receiving a negotiation result sent by the management module, wherein the negotiation result is obtained based on the first negotiation feedback; and when the negotiation result indicates execution of a state switch of the vehicle, switching the state of the vehicle from the first state to the second state.

[0047] It can be seen that the business module can switch the vehicle status based on the negotiation result sent by the management module.

[0048] Optionally, the management module is deployed in the first domain controller of the vehicle.

[0049] Optionally, the first business module is deployed in a second domain controller of the vehicle.

[0050] Optionally, the first service module is deployed in a vehicle integrated unit (VIU) of the vehicle.

[0051] Optionally, the first business module is deployed in the first domain controller of the vehicle.

[0052] The beneficial effects of the specific deployment method of the management module and the first business module on the vehicle can be referred to the description of the corresponding content in the above first aspect, which will not be repeated here.

[0053] In a third aspect, the present application provides a device for whole vehicle control, the device comprising a sending unit and a receiving unit, wherein the sending unit is used to send a first negotiation request to a first business module, the first negotiation request being used to inquire whether the first business module agrees to switch the vehicle's state from a first state to a second state; the receiving unit is used to receive a first negotiation feedback sent by the first business module, the first negotiation feedback being associated with the first negotiation request.

[0054] Optionally, the sending unit is further used to: send a second negotiation request to the second business module, the second negotiation request is used to inquire the second business module whether it agrees to switch the state of the entire vehicle from the first state to the second state; the receiving unit is further used to: receive second negotiation feedback sent by the second business module, the second negotiation feedback is associated with the second negotiation request; the sending unit is further used to: send a negotiation result to the first business module and the second business module, the negotiation result is obtained based on the first negotiation feedback and the second negotiation feedback.

[0055] Optionally, the receiving unit is further used to: receive a state transition request sent by the first business module, the state transition request is used to request to switch the state of the vehicle from the first state to the second state, and the first negotiation request is associated with the state transition request.

[0056] Optionally, the receiving unit is further used to: receive a state transition request sent by the second business module, the state transition request is used to request to switch the state of the vehicle from the first state to the second state, and the first negotiation request is associated with the state transition request.

[0057] Optionally, when both the first negotiation feedback and the second negotiation feedback indicate agreement to switch the state of the vehicle from the first state to the second state, the negotiation result indicates execution of the switching of the state of the vehicle; or, when the first negotiation feedback or the second negotiation feedback indicates disagreement to switch the state of the vehicle from the first state to the second state, the negotiation result indicates not execution of the switching of the state of the vehicle.

[0058] Optionally, the sending unit is also used to: send priority indication information to the first business module, and the priority indication information is used to indicate the priority of the second state; the first negotiation feedback is associated with the first negotiation request specifically: the first negotiation feedback is associated with the first negotiation request and the priority indication information.

[0059] Optionally, the management module is deployed in the first domain controller of the vehicle.

[0060] Optionally, the first business module is deployed in a second domain controller of the vehicle.

[0061] Optionally, the first service module is deployed in a vehicle integrated unit (VIU) of the vehicle.

[0062] Optionally, the first business module is deployed in the first domain controller of the vehicle.

[0063] In a fourth aspect, the present application provides a device for whole vehicle control, the device comprising a receiving unit and a sending unit, wherein the receiving unit is used to receive a first negotiation request sent by a management module, the first negotiation request being used to inquire whether the first business module agrees to switch the vehicle's state from a first state to a second state; the sending unit is used to send a first negotiation feedback to the management module based on the first negotiation request.

[0064] Optionally, the sending unit is further used to: send a state conversion request to the management module, where the state conversion request is used to request to switch the state of the vehicle from the first state to the second state.

[0065] Optionally, the device further includes a processing unit, which is used to determine whether the status of the vehicle parts corresponding to the first business module meets the conditions required for the vehicle status to switch from the first state to the second state based on the first negotiation request, and obtain the first negotiation feedback.

[0066] Optionally, the receiving unit is also used to: receive priority indication information sent by the management module, the priority indication information indicating the priority of the second state; the sending unit is specifically used to: send the first negotiation feedback to the management module based on the first negotiation request and the priority indication information.

[0067] Optionally, the processing unit is further configured to: obtain the first negotiation feedback according to the first negotiation request and the priority indication information.

[0068] Optionally, based on the first negotiation request, it is determined that the state of the vehicle parts corresponding to the first business module does not meet the conditions required for the vehicle state to be switched from the first state to the second state, and the priority of the second state is greater than a preset threshold or the priority of the second state is higher than the priority of the first state, the first negotiation feedback indicates agreement to switch the vehicle state from the first state to the second state.

[0069] Optionally, the receiving unit is also used to: receive the negotiation result sent by the management module, and the negotiation result is obtained based on the first negotiation feedback; the processing unit is also used to: switch the state of the vehicle from the first state to the second state when the negotiation result indicates the execution of the switching of the state of the vehicle.

[0070] Optionally, the management module is deployed in the first domain controller of the vehicle.

[0071] Optionally, the first business module is deployed in a second domain controller of the vehicle.

[0072] Optionally, the first service module is deployed in a vehicle integrated unit (VIU) of the vehicle.

[0073] Optionally, the first business module is deployed in the first domain controller of the vehicle.

[0074] In a fifth aspect, the present application provides a computer-readable storage medium comprising computer instructions, which, when executed by a processor, implement the method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0075] In a sixth aspect, the present application provides a computer-readable storage medium comprising computer instructions, which, when executed by a processor, implement the method in the above-mentioned second aspect or any possible implementation of the second aspect.

[0076] In a seventh aspect, the present application provides a computer program product that, when executed by a processor, implements the method described in the first aspect or any possible embodiment of the first aspect. The computer program product, for example, may be a software installation package. When the method provided in any possible design of the first aspect is required, the computer program product may be downloaded and executed on a processor to implement the method described in the first aspect or any possible embodiment of the first aspect.

[0077] In an eighth aspect, the present application provides a computer program product that, when executed by a processor, implements the method described in the second aspect or any possible embodiment of the second aspect. The computer program product, for example, may be a software installation package. When the method provided in any possible design of the second aspect is required, the computer program product may be downloaded and executed on a processor to implement the method described in the second aspect or any possible embodiment of the second aspect.

[0078] In a ninth aspect, the present application provides a chip comprising at least one processor and a communication interface, wherein the communication interface is configured to provide information input and / or output to the at least one processor. The chip is configured to implement the method of the first aspect or any possible embodiment of the first aspect.

[0079] In a tenth aspect, the present application provides a chip comprising at least one processor and a communication interface, wherein the communication interface is configured to provide information input and / or output to the at least one processor. The chip is configured to implement the method of the second aspect or any possible embodiment of the second aspect.

[0080] In the eleventh aspect, the present application provides a vehicle, which includes the apparatus of the third and fourth aspects above, or the vehicle includes the apparatus of any possible implementation of the third aspect above and the apparatus of any possible implementation of the fifth aspect above, or the vehicle includes the chips of the ninth and tenth aspects above. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] FIG1 is a schematic diagram of a vehicle control scenario provided by an embodiment of the present application;

[0082] FIG2 is a schematic diagram of an in-vehicle system architecture provided in an embodiment of the present application;

[0083] FIG3 is a schematic diagram of functional deployment on a vehicle provided in an embodiment of the present application;

[0084] FIG4 is a schematic diagram of another functional deployment on a vehicle provided in an embodiment of the present application;

[0085] FIG5 is a schematic diagram of functional deployment on a vehicle provided by an embodiment of the present application;

[0086] FIG6 is a flow chart of another vehicle control method provided in an embodiment of the present application;

[0087] FIG7 is a schematic structural diagram of a communication device provided in this embodiment of the present application;

[0088] FIG8 is a schematic structural diagram of a communication device provided in this embodiment of the present application;

[0089] FIG9 is a schematic structural diagram of a communication device provided in this embodiment of the present application. DETAILED DESCRIPTION

[0090] The terms used in the embodiments of this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The terms "first", "second", etc. in the description and claims of the embodiments of this application are used to distinguish different objects, rather than to describe a specific order.

[0091] It should be noted that prefixes such as "first" and "second" are used in this application solely to distinguish different descriptive objects and do not have any limiting effect on the position, order, priority, quantity, or content of the described objects. For example, if the described object is a "service module," the ordinal number preceding "service module" in "first service module" and "second service module" does not restrict the position or order of the "service modules." For another example, if the described object is a "level," the ordinal number preceding "level" in "first level" and "second level" does not restrict the priority of the "levels." For another example, the number of described objects is not limited by the prefix and can be one or more. For example, in the case of "first device," the number of "devices" can be one or more. Furthermore, the objects modified by different prefixes can be the same or different. For example, if the described object is a "device," the "first device" and "second device" can be the same device, the same type of device, or different types of devices. For another example, if the described object is "information," the "first information" and "second information" can be information of the same content or different contents. In short, the use of prefixes to distinguish the described objects in the embodiments of the present application does not constitute a limitation on the described objects. For the statement of the described objects, please refer to the description in the context of the claims or embodiments, and the use of such prefixes should not constitute unnecessary limitations.

[0092] It should be noted that the descriptions used in the embodiments of the present application, such as "at least one of a1, a2, ..., and an" and the like, include any one of a1, a2, ..., and an existing alone, and any combination of any multiple of a1, a2, ..., and an, each of which can exist alone. For example, the description "at least one of a, b, and c" includes a alone, b alone, c alone, a combination of a and b, a combination of a and c, a combination of b and c, or a combination of ab and c.

[0093] Refer to Figure 1, which is a schematic diagram of a vehicle control scenario provided by an embodiment of the present application. Figure 1 shows a schematic diagram of vehicle control based on a traditional electronic and electrical architecture. In Figure 1, it is assumed that the vehicle control unit (VCU), electronic control units ECU1 and ECU2 in the vehicle are connected to the gateway through the controller area network (CAN) bus 1, and the body control module (BCM), ECU3 and ECU4 are connected to the gateway through the CAN bus 2. The signals sent by the ECUs on different buses can be forwarded through the gateway, thereby realizing communication.

[0094] For example, the BCM has a state management function, meaning it centrally manages the vehicle's state. For example, in an electric vehicle, assume that the BCM detects a change in ECU1's signal (e.g., the user key switches from ON to Start) based on a signal sent by ECU1. In this case, the BCM also obtains signals from target devices (e.g., the VCU, ECU1, ECU2, and ECU3) related to this state transition (e.g., switching from standby to driving) via the gateway and communication bus. The BCM then determines whether each signal satisfies the required state transition conditions, such as whether the gear is in P or N, whether the brake pedal is pressed, whether the battery charge is above a preset threshold, or whether the charging wake-up signal has not been activated. Upon determining that each signal satisfies the required state transition conditions, the BCM issues a signal to execute the state transition. As can be seen, under traditional electrical and electronic architectures, the functions of the various devices involved in vehicle state transitions are highly coupled, and the signal transmission periods of each device vary. This makes vehicle state transition design difficult and reduces overall vehicle system reliability.

[0095] In response to the above problems, an embodiment of the present application proposes a whole vehicle control method, which can achieve decoupling of various functions related to vehicle state switching, reduce the complexity of the whole vehicle state switching scheme design, and improve the reliability of the whole vehicle control.

[0096] The technical solution in this application will be described below with reference to the accompanying drawings.

[0097] Referring to FIG. 2 , FIG. 2 is an architectural diagram of an in-vehicle communication system provided in an embodiment of the present application. The system is used to implement vehicle control, for example, switching the vehicle's state. As shown in FIG. 2 , the system includes at least one domain controller (DC) and at least one vehicle integrated unit (VIU). The DC and the VIU, as well as the VIUs themselves, are connected and communicated via a high-speed Ethernet network, making the vehicle network highly efficient and reliable.

[0098] Each functional domain in a vehicle can have an independent domain controller. In Figure 2, at least one domain controller includes a vehicle domain controller (VDC), a mobile data center (MDC), and a cockpit domain controller (CDC). In some possible embodiments, the MDC may also be referred to as an advanced driving assistance system domain controller (ADAS DC) or an automatic drive domain controller (AD DC).

[0099] Among them, VDC is used to provide services for vehicle parts in the body domain and vehicle parts in the chassis domain. Among them, vehicle parts in the body domain include door and window lift controllers, electric rearview mirrors, air conditioning, central door locks, etc.; vehicle parts in the chassis domain include vehicle parts in the braking system, vehicle parts in the steering system, and vehicle parts in the acceleration system, such as the accelerator.

[0100] MDC is used to provide services for vehicle components that enable autonomous driving functions, including monocular cameras, binocular cameras, millimeter-wave radars, lidars, ultrasonic radars, etc.

[0101] The CDC is used to provide services for vehicle components within the cockpit domain, where the vehicle components within the cockpit domain include head-up display (HUD), instrument display, radio, navigation, camera, etc.

[0102] The vehicle integration unit VIU is used to manage the electronic control units (ECUs) in the area where it is located. The VIU can provide nearby access to the corresponding sensors, actuators or ECUs to realize functions such as power supply, electronic fuses, and I / O port isolation. In addition, the VIU has some or all of the functions of a gateway, such as protocol conversion, protocol encapsulation and forwarding, and data format conversion. When the VIU integrates the ECU functions in some vehicle components, the VIU also has electronic control functions for realizing control of the corresponding vehicle components. In some possible embodiments, the VIU also has the function of processing data across vehicle components, that is, it can perform calculations on data obtained from actuators of multiple vehicle components. It can be understood that in Figure 2, the VDC can access VIU2 and VIU4 through VIU1, and the VDC can also access sensors, actuators or ECUs connected to VIU1 through VIU1.

[0103] In some possible embodiments, the logical functions of multiple items of the above-mentioned VDC, MDC, and CDC may also be integrated. For example, the VDC is retained, and only the MDC and CDC are integrated to obtain a domain controller that can provide autonomous driving control functions and cockpit control functions. For another example, the MDC is retained, and only the VDC and CDC are integrated to obtain a domain controller that can provide body control functions and cockpit control functions. For another example, the CDC is retained, and only the VDC and MDC are integrated to obtain a domain controller that can provide body control functions and autonomous driving control functions. For another example, the VDC, MDC, and CDC are integrated to obtain a domain controller that can provide body control functions, autonomous driving control functions, and cockpit control functions. In this case, the domain controller may also be referred to as a central computing unit.

[0104] The in-vehicle communication system shown in FIG2 can be applied to autonomous driving vehicles, traditional vehicles, or new energy vehicles, among which traditional vehicles refer to fuel vehicles, such as gasoline vehicles, diesel vehicles, etc., and new energy vehicles may be, for example, electric vehicles (EV), hybrid electric vehicles (HEV), range-extended EV, plug-in hybrid vehicles (plug-in HEV), fuel cell vehicles, or other new energy vehicles, etc., without specific limitation here.

[0105] It should be noted that Figure 2 is only an exemplary architecture diagram and does not limit the number of network elements included in the system shown in Figure 2. Although not shown in Figure 2, Figure 2 may also include other functional entities in addition to the functional entities shown in Figure 2. In addition, the method provided in the embodiment of the present application can be applied to the communication system shown in Figure 2. Of course, the method provided in the embodiment of the present application can also be applied to other communication systems, and the embodiment of the present application is not limited in this regard.

[0106] Referring to FIG3 , FIG3 is a schematic diagram of functional deployment on a vehicle provided by an embodiment of the present application. Based on the vehicle communication system architecture shown in FIG2 , in FIG3 , the management module can be deployed on a vehicle computing platform (vehicle computing platform), which is a software and hardware integrated platform for supporting intelligent driving, such as a mobile data center (MDC), wherein the management module has a state management function, and multiple business modules related to the switching of the vehicle state can be distributed and deployed on multiple domain controllers. For example, business module 21 and business module 22 can be deployed on a software and hardware integrated platform for supporting body control and chassis control, such as a vehicle domain controller (VDC), wherein business module 21 and business module 22 are used to provide services for vehicle parts in the body domain and vehicle parts in the chassis domain. For example, business module 21 can provide services for air conditioning, and business module 22 can provide services for gear position sensor; business module 23 and business module 24 can be deployed on a software and hardware integrated platform for supporting intelligent driving, namely a vehicle computing platform (VDC). The service module 25 is a software and hardware integrated platform for providing in-vehicle multimedia services (for example, at least one of a head-up display, an instrument panel display, and entertainment audio and video), such as a cockpit domain controller (CDC), wherein the service module 25 is used to provide services for vehicle components within the cockpit domain. For example, the service module 25 can provide services for an instrument display.

[0107] For example, when the business module on the domain controller detects that the state of the corresponding vehicle parts has changed, the business module initiates a state transition request to the management module. In this case, the management module implements negotiation control of whether multiple business modules associated with the state switch on each domain controller execute the state switch based on its own state management function. The negotiation process can be specifically described in the embodiment of Figure 6 below and will not be repeated here.

[0108] It should be noted that the functional deployment diagram shown in Figure 3 is only an example. In some possible embodiments, the management module may not be deployed on the MDC, and the management module may also be deployed only on the VDC or CDC, which is not specifically limited in the embodiments of this application.

[0109] See Figure 4, which is another schematic diagram of vehicle function deployment according to an embodiment of the present application. Compared to the schematic diagram of vehicle function deployment shown in Figure 3, the multiple service modules related to vehicle state switching in Figure 4 can be deployed not only on multiple domain controllers but also on at least one vehicle integrated unit (VIU).

[0110] In FIG4 , the management module is deployed only on the integrated hardware and software platform supporting intelligent driving, namely the onboard computing platform, such as the mobile data center (MDC). Service modules related to vehicle state switching can be distributed and deployed across the domain controller and the vehicle integration unit. Specifically, service module 21 can be deployed on the integrated hardware and software platform supporting body and chassis control, such as the vehicle domain controller (VDC). Service modules 22 and 23 can be deployed on the integrated hardware and software platform supporting intelligent driving, such as the mobile data center (MDC). Service module 24 can be deployed on the integrated hardware and software platform providing in-vehicle multimedia services, such as the cockpit domain controller (CDC). Service module 25 is deployed on the vehicle integration unit. If the vehicle integration unit integrates the ECU functions of some vehicle components, service module 25 has the function of controlling the vehicle components connected to the vehicle integration unit. Furthermore, the management module, service module 21, service module 22, service module 23, and service module 24 can be described in detail in the embodiment of FIG3 , and will not be repeated here.

[0111] For example, when the business module on the domain controller or the business module on the vehicle integration unit detects that the state of the corresponding vehicle parts has changed, the business module initiates a state transition request to the management module. In this case, the management module implements negotiation control of whether multiple business modules associated with this state switch execute this state switch based on its own state management function. The negotiation process can be specifically referred to the description of the embodiment of Figure 6 below, and will not be repeated here.

[0112] It should be noted that the functional deployment diagram shown in Figure 4 is only an example. In some possible embodiments, the management module may not be deployed on the MDC, but may be deployed only on the VDC or CDC. In some possible embodiments, multiple business modules related to vehicle state switching may be deployed only on multiple vehicle integration units, which is not specifically limited in the present embodiment.

[0113] Refer to Figure 5, which is a functional deployment diagram on another vehicle provided by an embodiment of the present application. There are two domain controllers on the vehicle shown in Figure 5, one of which is a domain controller that integrates the above-mentioned VDC function and MDC function (equivalent to the VDC and MDC in Figure 3), that is, the domain controller can provide body control function and automatic driving control function, and the other is a cockpit domain controller CDC. Exemplarily, the management module can be deployed on a hardware and software integrated platform for supporting intelligent driving, body control and chassis control, such as the domain controller that integrates the VDC function and the MDC function shown in Figure 5, and multiple business modules related to the switching of the vehicle status are distributed and deployed on multiple controllers shown in Figure 5. Specifically, business module 21, business module 22, business module 23 and business module 24 can be deployed on a hardware and software integrated platform for supporting intelligent driving, body control and chassis control, such as the domain controller that integrates the VDC function and the MDC function shown in Figure 5. The business module 25 can be deployed on a hardware and software integrated platform for providing in-vehicle multimedia services, such as a CDC. For details about the management module, business module 21, business module 22, business module 23, business module 24 and business module 25, please refer to the description of the corresponding contents in the embodiment of Figure 3. For details about the negotiation and interaction process between the management module and at least one business module, please refer to the relevant description in the embodiment of Figure 6 below, which will not be repeated here.

[0114] It should be noted that the functional deployment diagram shown in Figure 5 is only an example. In some possible embodiments, the management module may be deployed on a CDC instead of on a domain controller that integrates VDC and MDC functions.

[0115] In some possible embodiments, the domain controller shown in FIG5 may also be integrated in other ways. For example, the domain controller in FIG5 includes a domain controller and an MDC that integrate VDC and CDC functions. In this case, the management module can be deployed on any of the domain controllers. For another example, the domain controller in FIG5 includes a domain controller and a VDC that integrate MDC and CDC functions. In this case, the management module can be deployed on any of the domain controllers. For another example, the domain controller in FIG5 is only a domain controller that integrates VDC, MDC, and CDC functions. In this case, the management module is deployed on this domain controller.

[0116] As can be seen from Figures 3-5 above, there is only one management module, meaning that Figures 3-5 illustrate centralized functional deployment. In some possible embodiments, there may be multiple management modules, for example, one management module deployed on each domain controller. In this case, the management module is solely responsible for coordinating and managing the negotiation between the various service modules on the domain controller where the management module resides regarding vehicle state transitions. The negotiation process between the management module and the various service modules can be found in the description of the embodiment shown in Figure 6 below and will not be further elaborated here.

[0117] See Figure 6, which is a flow chart of a vehicle control method provided by an embodiment of the present application, which is applied to a communication system consisting of a management module and at least one service module. The method includes but is not limited to the following steps:

[0118] S601: The management module sends a negotiation request.

[0119] In an embodiment of the present application, the management module sends a negotiation request to at least one business module, where the negotiation request is used to inquire whether the business module agrees to switch the state of the vehicle from the first state to the second state.

[0120] Here, the state of the vehicle can be understood to include: the state or mode that the vehicle presents to the outside world when the user is using the vehicle. Exemplarily, the state of the vehicle can be divided into one or more of the following: standby state, driving state, comfort state, charging state (for electric vehicles), parking state, etc. Among them, the standby state may indicate that the vehicle is unlocked but the vehicle is not started, the driving state may indicate that the vehicle is started and is in the process of driving, the comfort state may indicate that the vehicle has turned on the air conditioner while driving, the charging state may indicate that the vehicle is not unlocked but is currently charging, and the parking state may indicate that the vehicle is not unlocked. In some possible embodiments, the state of the vehicle may also be referred to as vehicle state, whole vehicle state, vehicle mode or whole vehicle mode, which is not specifically limited here.

[0121] For example, the switching from the first state to the second state may be any one of switching from a waiting state to a driving state, switching from a driving state to a comfort state, switching from a comfort state to a driving state, switching from a driving state to a parking state, switching from a comfort state to a parking state, and switching from a parking state to a charging state. It will be understood that this is merely an example of switching of vehicle states, and the embodiments of the present application are not limited to the above examples for switching of vehicle states.

[0122] Among them, the above-mentioned at least one business module can be understood as a business module related to the switching of the vehicle state from the first state to the second state. Each business module in the at least one business module carries a corresponding business. In some possible embodiments, the business can also be called an application, function or service. In one implementation, the first business module carries the corresponding business, which may include: data corresponding to the corresponding business, and at least one item in the processing process can be implemented by the first business module. Exemplarily, the at least one business module includes the business modules 21, 22, ..., and 2n in Figure 6, where n is an integer greater than or equal to 1.

[0123] Take a specific example to illustrate the business modules related to vehicle status switching:

[0124] For example, assuming that the first state is the waiting state and the second state is the driving state, the business modules related to the vehicle's state switching from the waiting state to the driving state include but are not limited to: a module for carrying gear monitoring services, a module for carrying brake pedal monitoring services, a module for carrying battery power monitoring services, a module for carrying charging port monitoring services, etc.

[0125] In some possible embodiments, the management module may further send priority indication information to the at least one service module. The priority indication information is used to indicate the priority of the second state. The priority of the second state indicates the urgency or urgency of switching to the second state. A higher priority of the second state indicates a more urgent need to switch to the second state. The priority indication information may be used to force the service module to agree to switch the vehicle from the first state to the second state. For details, refer to the relevant description in S602 below.

[0126] Exemplarily, the priority indication information can indicate the priority of the second state by means of an identifier, a bit mapping, or a binary value. For example, referring to Table 1, Table 1 exemplarily provides a mapping table between priority values ​​and the priority of the second state. As can be seen from Table 1, when the priority value is the first value, the priority of the second state is level one; when the priority value is the second value, the priority of the second state is level two; when the priority value is the third value, the priority of the second state is level three. Exemplarily, the first value is greater than the second value, the second value is greater than the third value, level one is higher than level two, and level two is higher than level three.

[0127] Table 1

[0128] Priority value Second state priority first value level one

[0129] Second value level two Third value level three

[0130] It can be understood that the above Table 1 is only an example to reflect the correspondence between the priority value and the priority of the second state. In actual applications, the text content and storage method of the correspondence can also be in other forms, which are not specifically limited here.

[0131] In one implementation, the management module sends a negotiation request to at least one service module via multicast. In this case, each service module that receives the negotiation request can determine whether it agrees to switch the vehicle state from the first state to the second state based on the negotiation request.

[0132] In another implementation, the management module sends a negotiation request to each of the at least one service module in a unicast manner. For example, the management module sends a negotiation request 1 to service module 21, a negotiation request 2 to service module 22, and so on. The management module then sends a negotiation request n to service module 2n. Negotiation request 1 is used to inquire whether service module 21 agrees to switch the vehicle's state from a first state to a second state, negotiation request 2 is used to inquire whether service module 22 agrees to switch the vehicle's state from a first state to a second state, and negotiation request n is used to inquire whether service module 2n agrees to switch the vehicle's state from a first state to a second state.

[0133] In another implementation, the management module may also send a negotiation request in a broadcast manner. The business modules that receive the negotiation request include not only the at least one business module mentioned above, but may also include business modules that are not related to the vehicle's status switching from the first state to the second state. In this case, the business modules that are not related to the vehicle's status switching from the first state to the second state may ignore the negotiation request, that is, not respond to the negotiation request.

[0134] In some possible embodiments, the management module sending a negotiation request includes: the management module receiving a state transition request sent by a target service module, the target service module being included in the at least one service module, the state transition request being for requesting a vehicle state to be switched from a first state to a second state; and the management module sending a negotiation request in response to the state transition request. In other words, the management module sending the negotiation request is subject to a trigger condition.

[0135] Optionally, in some possible embodiments, before executing S601, S600 may be further executed. The target service module takes service module 21 as an example:

[0136] S600: The service module 21 sends a state transition request to the management module.

[0137] The state transition request is used to request that the state of the vehicle be switched from a first state to a second state.

[0138] Accordingly, the management module receives the state transition request sent by the service module 21. In this case, the management module sends a negotiation request. Specifically, the management module sends the negotiation request in response to the state transition request. In other words, the negotiation request is associated with the state transition request, or the negotiation request is sent by the management module based on the state transition request.

[0139] In one implementation, the business module 21 sends a state transition request to the management module, including: when the business module 21 detects that the state of the vehicle component corresponding to itself has changed, the business module 21 sends a state transition request to the management module.

[0140] Exemplarily, the vehicle component corresponding to the business module 21 is the brake pedal, that is, the business module carries the brake pedal stepping monitoring business. The business module 21 detects that the state of the brake pedal has changed, for example, from not stepped on to stepped on. In this case, the business module 21 can send a state transition request to the management module.

[0141] S602: At least one service module sends negotiation feedback to the management module.

[0142] The negotiation feedback is used to indicate whether the business module agrees to switch the state of the vehicle from the first state to the second state.

[0143] Specifically, at least one business module sends negotiation feedback to the management module, including: business module 21 sends negotiation feedback 1 to the management module, business module 22 sends negotiation feedback 2 to the management module,..., business module 2n sends negotiation feedback n to the management module, wherein negotiation feedback 1 is used to indicate whether the business module 21 agrees to switch the vehicle's status from the first state to the second state, negotiation feedback 2 is used to indicate whether the business module 22 agrees to switch the vehicle's status from the first state to the second state, and negotiation feedback n is used to indicate whether the business module 2n agrees to switch the vehicle's status from the first state to the second state.

[0144] In one implementation, negotiation feedback corresponding to a business module is associated with a negotiation request received by the business module. Specifically, after the at least one business module receives a negotiation request from the management module, each of the at least one business module determines, based on the negotiation request, whether the status of its corresponding vehicle component satisfies the conditions required for the vehicle to switch from a first state to a second state, and thereby obtains negotiation feedback corresponding to the business module.

[0145] Exemplarily, when the business module determines that the state of the vehicle parts corresponding to itself meets the conditions required for the vehicle's state to switch from the first state to the second state, the negotiation feedback corresponding to the business module indicates agreement to switch the vehicle's state from the first state to the second state; when the business module determines that the state of the vehicle parts corresponding to itself does not meet the conditions required for the vehicle's state to switch from the first state to the second state, the negotiation feedback corresponding to the business module indicates disagreement to switch the vehicle's state from the first state to the second state.

[0146] Taking business module 21 and business module 22 as examples, the process of the business module obtaining negotiation feedback is explained: assuming that the first state is the waiting state, the second state is the driving state, business module 21 is the module that carries the brake pedal monitoring business, and business module 22 is the module that carries the battery power monitoring business, then the process of business module 21 obtaining negotiation feedback 1 can refer to the following situation 1, and the process of business module 22 obtaining negotiation feedback 2 can refer to the following situation 2.

[0147] Case 1:

[0148] The business module 21 determines whether the status of the vehicle components corresponding to itself meets the conditions required for the vehicle to switch from the first state to the second state. Obtaining negotiation feedback 1 means: the business module 21 determines whether the brake pedal is currently stepped on and obtains negotiation feedback 1. Specifically, if it is determined that the brake pedal is currently stepped on, the negotiation feedback 1 indicates that the business module 21 agrees to switch the vehicle's status from the waiting state to the driving state; if it is determined that the brake pedal is currently not stepped on, the negotiation feedback 1 indicates that the business module 21 does not agree to switch the vehicle's status from the waiting state to the driving state.

[0149] Case 2:

[0150] The business module 22 determines whether the status of the vehicle components corresponding to itself meets the conditions required for the vehicle to switch from the first state to the second state. Obtaining negotiation feedback 2 means: the business module 22 determines whether the battery power is not less than the preset power threshold, and obtains negotiation feedback 2. Specifically, if it is determined that the battery power is not less than the preset power threshold, then the negotiation feedback 2 indicates that the business module 22 agrees to switch the vehicle's status from the waiting state to the driving state; if it is determined that the battery power is less than the preset power threshold, then the negotiation feedback 2 indicates that the business module 22 does not agree to switch the vehicle's status from the waiting state to the driving state.

[0151] From this, it can be seen that different business modules are based on different judgment conditions when obtaining negotiation feedback. For example, the judgment condition corresponding to business module 21 is whether the brake pedal is currently stepped on, and the judgment condition corresponding to business module 22 is whether the battery power is not less than the preset power threshold. In other words, when the business module obtains negotiation feedback, it only needs to pay attention to the conditions required for the vehicle state switching related to itself, thereby realizing the decomposition of functions related to state control, reducing the coupling between the functions of each business module, and reducing the complexity of the entire vehicle system.

[0152] In another implementation, the service module further receives priority indication information sent by the management module, where the priority indication information indicates the priority of the second state. In this case, the negotiation feedback corresponding to the service module is associated with the negotiation request and the priority indication information received by the service module. Specifically, the service module obtains the negotiation feedback corresponding to the service module based on the received negotiation request and the priority indication information.

[0153] For example, when a business module determines that the state of its corresponding vehicle component does not meet the conditions required for the vehicle's state to switch from the first state to the second state, and the priority of the second state indicated by the priority indication information is greater than a preset threshold or the priority of the second state indicated by the priority indication information is higher than the priority of the first state, the negotiation feedback corresponding to the business module indicates that the business module agrees to switch the vehicle's state from the first state to the second state. It can be seen that based on the priority indication information, the business module can be forced to agree to switch the vehicle's state from the first state to the second state. In this way, when switching to the second state is urgent, the priority indication information can be used to influence the negotiation feedback corresponding to the relevant business module, thereby achieving control of the entire vehicle state.

[0154] Exemplarily, when the business module determines that the state of the vehicle component corresponding to itself does not meet the conditions required for the vehicle's state to switch from the first state to the second state, and the priority of the second state indicated by the priority indication information is less than a preset threshold or the priority of the second state indicated by the priority indication information is not higher than the priority of the first state, the negotiation feedback corresponding to the business module indicates that the business module does not agree to switch the vehicle's state from the first state to the second state.

[0155] Exemplarily, when the business module determines that the state of the vehicle components corresponding to it meets the conditions required for the vehicle to switch from a first state to a second state, the negotiation feedback corresponding to the business module indicates that the business module agrees to switch the vehicle from the first state to the second state.

[0156] S603: The management module sends the negotiation result to at least one service module.

[0157] The negotiation result is obtained based on the negotiation feedback of the at least one service module. In other words, the negotiation result is associated with the negotiation feedback sent by each service module in the at least one service module.

[0158] Illustratively, if the negotiation feedback from each of the at least one business module indicates agreement to switch the vehicle's state from the first state to the second state, the negotiation result indicates execution of the vehicle's state switch. If the negotiation feedback from one of the at least one business module indicates disagreement to switch the vehicle's state from the first state to the second state, the negotiation result indicates not execution of the vehicle's state switch.

[0159] In one implementation, the negotiation result may be sent by the management module in any one of unicast, multicast or broadcast modes, which is not specifically limited here.

[0160] S604: When the negotiation result indicates to switch the vehicle state, each service module switches the vehicle state from the first state to the second state.

[0161] Specifically, after each business module in at least one business module receives the negotiation result, if the negotiation result indicates to execute the switching of the vehicle state, each business module switches the vehicle state from the first state to the second state, that is, each business module exits from the first state and enters the second state.

[0162] In some possible embodiments, when the negotiation result indicates that the vehicle state is not to be switched, each of the at least one service module does not switch the vehicle state, that is, the vehicle state remains in the first state.

[0163] It can be seen that the implementation of the embodiment of the present application realizes the switching of vehicle status through coordinated control between business modules based on multiple functional decoupling, which reduces the coupling degree between various functions of the whole vehicle, not only reduces the complexity of the vehicle system, but also improves the reliability of the whole vehicle control.

[0164] 7 , which is a schematic structural diagram of a communication device provided in an embodiment of the present application, the communication device 30 includes a sending unit 310 and a receiving unit 312. The communication device 30 can be implemented by hardware, software, or a combination of hardware and software.

[0165] Among them, the sending unit 310 is used to send a first negotiation request to the first business module, and the first negotiation request is used to inquire the first business module whether it agrees to switch the vehicle status from the first state to the second state; the receiving unit 312 is used to receive the first negotiation feedback sent by the first business module, and the first negotiation feedback is associated with the first negotiation request.

[0166] The communication device 30 may be used to implement the management module-side method described in the embodiment of FIG6 . In the embodiment of FIG6 , the sending unit 310 may be used to execute S601 , and the receiving unit 312 may be used to execute S602 . In some possible embodiments, the sending unit 310 may also be used to execute S603 , and the receiving unit 312 may also be used to execute S600 .

[0167] One or more of the various units in the embodiment shown in FIG. 7 above may be implemented in software, hardware, firmware, or a combination thereof. The software or firmware includes, but is not limited to, computer program instructions or codes, and may be executed by a hardware processor. The hardware includes, but is not limited to, various integrated circuits, such as a central processing unit (CPU), a digital signal processor (DSP), a field-programmable gate array (FPGA), or an application-specific integrated circuit (ASIC).

[0168] 8 is a schematic diagram of the structure of a communication device provided in an embodiment of the present application, wherein the communication device 40 includes a receiving unit 410 and a sending unit 412. The communication device 40 can be implemented by hardware, software, or a combination of hardware and software.

[0169] Among them, the receiving unit 410 is used to receive a first negotiation request sent by the management module, and the first negotiation request is used to consult the first business module whether it agrees to switch the vehicle status from the first state to the second state; the sending unit 412 is used to send a first negotiation feedback to the management module based on the first negotiation request.

[0170] The communication device 40 may be used to implement the service-side method described in the embodiment of FIG6 . In the embodiment of FIG6 , the receiving unit 410 may be used to execute S601 and S603 , and the sending unit 412 may be used to execute S602 and S600 . In some possible embodiments, the communication device 40 further includes a processing unit (not shown), which may be used to execute S604 .

[0171] One or more of the various units in the embodiment shown in FIG8 above may be implemented in software, hardware, firmware, or a combination thereof. The software or firmware includes, but is not limited to, computer program instructions or codes, and may be executed by a hardware processor. The hardware includes, but is not limited to, various integrated circuits, such as a central processing unit (CPU), a digital signal processor (DSP), a field-programmable gate array (FPGA), or an application-specific integrated circuit (ASIC).

[0172] See Figure 9, which shows a communication device provided in an embodiment of the present application.

[0173] As shown in Figure 9, the communication device 50 includes a processor 501, a communication interface 502, a memory 503, and a bus 504. The processor 501, the memory 503, and the communication interface 502 communicate with each other via the bus 504. It should be understood that the present application does not limit the number of processors and memories in the communication device 50.

[0174] In one implementation, the communication device 50 is also used to implement the management module side method described in the embodiment of FIG6 . In this case, the communication device 50 may be the domain controller in the above embodiment. The domain controller may be, for example, a vehicle domain controller (VDC), a mobile data center (MDC), a cockpit domain controller (CDC), a domain controller integrating VDC and MDC functions, a domain controller integrating VDC and CDC functions, a domain controller integrating MDC and CDC functions, or a domain controller integrating VDC, MDC, and CDC functions. The communication device 50 may also be a component within the above domain controller, such as a chip, a line card, or an integrated circuit.

[0175] In some possible embodiments, the communication device 50 is also used to implement the method on the service module side described in the embodiment of Figure 6 above. In this case, the communication device 50 may also be the domain controller in the above embodiment. The domain controller may be, for example, a VDC, an MDC, a CDC, a domain controller that integrates VDC functions and MDC functions, a domain controller that integrates VDC functions and CDC functions, a domain controller that integrates MDC functions and CDC functions, and a domain controller that integrates VDC functions, MDC functions, and CDC functions. The communication device 50 may also be the above-mentioned vehicle integrated unit (VIU). The communication device 50 may also be a component within the above-mentioned domain controller or a component within the vehicle integrated unit. The component may be, for example, a chip, a line card, or an integrated circuit, etc., which is not specifically limited here.

[0176] Bus 504 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, among others. Buses may be classified as address buses, data buses, control buses, and the like. For ease of illustration, FIG9 illustrates a single bus line, but this does not imply a single bus or type of bus. Bus 504 may include a path for transmitting information between various components of communication device 50 (e.g., memory 503, processor 501, and communication interface 502).

[0177] The processor 501 may include any one or more processors such as a central processing unit (CPU), a microprocessor (MP), or a digital signal processor (DSP).

[0178] Memory 503 is used to provide storage space for storing data such as the operating system and computer programs. Memory 503 can be one or a combination of random access memory (RAM), erasable programmable read-only memory (EPROM), read-only memory (ROM), or compact disc read-only memory (CD-ROM). Memory 503 can exist independently or be integrated into processor 501.

[0179] The communication interface 502 can be used to provide information input or output for the processor 501. Alternatively, the communication interface 502 can be used to receive data transmitted externally and / or transmit data externally. It can be a wired link interface such as an Ethernet cable, or a wireless link interface (such as Wi-Fi, Bluetooth, general wireless transmission, etc.). Alternatively, the communication interface 502 can also include a transmitter (such as a radio frequency transmitter, antenna, etc.) or a receiver coupled to the interface.

[0180] The processor 501 in the communication device 50 is used to read the computer program stored in the memory 503 to execute the aforementioned method, such as the method described in FIG. 6 .

[0181] In one possible design, the communication device 50 may be a management module that executes the method shown in FIG6 , and the processor 501 may be configured to read one or more computer programs stored in a memory to perform the following operations:

[0182] Sending a first negotiation request to the first business module via the sending unit 310, wherein the first negotiation request is used to inquire whether the first business module agrees to switch the state of the vehicle from the first state to the second state;

[0183] The first negotiation feedback sent by the first service module is received by the receiving unit 312 , where the first negotiation feedback is associated with the first negotiation request.

[0184] In one possible design, the communication device 50 may be a service module that executes the method shown in FIG6 , and the processor 501 may be configured to read one or more computer programs stored in a memory to perform the following operations:

[0185] Receiving, through the receiving unit 410, a first negotiation request sent by the management module, the first negotiation request being used to inquire whether the first business module agrees to switch the state of the vehicle from the first state to the second state;

[0186] The sending unit 412 sends the first negotiation feedback to the management module based on the first negotiation request.

[0187] The present application also provides a communication system comprising a first device and a second device, wherein the first device may be the communication device 30 shown in FIG7 or the communication device 50 shown in FIG9 for implementing the management module side method described in the embodiment of FIG6 , and the second device may be the communication device 40 shown in FIG8 or the communication device 50 shown in FIG9 for implementing the service module side method described in the embodiment of FIG6 . This communication system can be used to implement the vehicle control method described in the embodiment of FIG6 .

[0188] An embodiment of the present application also provides a vehicle, which includes the communication device 30 shown in Figure 7 and the communication device 40 shown in Figure 8, or the vehicle includes the communication device 50 shown in Figure 9 for implementing the management module side method described in the embodiment of Figure 6 and the communication device 50 shown in Figure 9 for implementing the business module side method described in the embodiment of Figure 6, or the vehicle includes a communication system for implementing the whole vehicle control method shown in Figure 6 above.

[0189] In the embodiments described above, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0190] It should be noted that, those skilled in the art can see that all or part of the steps in the various methods of the above embodiments can be completed by a program to instruct relevant hardware. The program can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0191] The technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer program product is stored in a storage medium and includes a number of instructions for enabling a device (which can be a personal computer, a server, or a network device, a robot, a single-chip microcomputer, a chip, a robot, etc.) to execute all or part of the steps of the method described in each embodiment of the present application.

Claims

1. A vehicle control method, characterized in that: Applied to a management module, the method includes: Sending a first negotiation request to the first service module, wherein the first negotiation request is used to inquire whether the first service module agrees to switch the state of the vehicle from the first state to the second state; A first negotiation feedback sent by the first service module is received, where the first negotiation feedback is associated with the first negotiation request.

2. The method according to claim 1, characterized in that The method further comprises: Sending a second negotiation request to the second business module, where the second negotiation request is used to inquire whether the second business module agrees to switch the state of the vehicle from the first state to the second state; receiving second negotiation feedback sent by the second service module, where the second negotiation feedback is associated with the second negotiation request; A negotiation result is sent to the first service module and the second service module, where the negotiation result is obtained based on the first negotiation feedback and the second negotiation feedback.

3. The method according to claim 1 or 2, characterized in that Before sending the first negotiation request to the first service module, the method further includes: A state transition request sent by the first service module is received, where the state transition request is used to request switching the state of the vehicle from the first state to the second state, and the first negotiation request is associated with the state transition request.

4. The method according to claim 1 or 2, characterized in that Before sending the first negotiation request to the first service module, the method further includes: A state transition request sent by a second business module is received, where the state transition request is used to request switching the state of the vehicle from the first state to the second state, and the first negotiation request is associated with the state transition request.

5. The method according to any one of claims 2 to 4, characterized in that: In a case where both the first negotiation feedback and the second negotiation feedback indicate agreement to switch the state of the vehicle from the first state to the second state, the negotiation result indicates execution of the switching of the state of the vehicle; or, In a case where the first negotiation feedback or the second negotiation feedback indicates that the state of the vehicle is not agreed to be switched from the first state to the second state, the negotiation result indicates that the state switching of the vehicle is not performed.

6. The method according to any one of claims 1 to 5, characterized in that The method further comprises: Sending priority indication information to the first service module, where the priority indication information is used to indicate the priority of the second state; The first negotiation feedback is associated with the first negotiation request specifically in that the first negotiation feedback is associated with the first negotiation request and the priority indication information.

7. The method according to any one of claims 1 to 6, characterized in that The management module is deployed in the first domain controller of the vehicle.

8. The method according to claim 7, characterized in that The first service module is deployed on the second domain controller of the vehicle.

9. The method according to claim 7, characterized in that The first service module is deployed in the vehicle integrated unit VIU of the vehicle.

10. The method according to claim 7, characterized in that The first service module is deployed in the first domain controller of the vehicle.

11. A vehicle control method, characterized in that: Applied to the first business module, the method includes: receiving a first negotiation request sent by the management module, wherein the first negotiation request is used to inquire whether the first service module agrees to switch the state of the vehicle from the first state to the second state; A first negotiation feedback is sent to the management module based on the first negotiation request.

12. The method according to claim 11, characterized in that Before receiving the first negotiation request sent by the management module, the method further includes: A state transition request is sent to the management module, where the state transition request is used to request that the state of the vehicle be switched from the first state to the second state.

13. The method according to claim 11 or 12, characterized in that The method further comprises: According to the first negotiation request, it is determined whether the state of the vehicle component corresponding to the first business module meets the conditions required for the vehicle state to switch from the first state to the second state, and the first negotiation feedback is obtained.

14. The method according to claim 11 or 12, characterized in that The method further comprises: receiving priority indication information sent by the management module, where the priority indication information indicates the priority of the second state; The sending a first negotiation feedback to the management module based on the first negotiation request includes: The first negotiation feedback is sent to the management module based on the first negotiation request and the priority indication information.

15. The method according to claim 14, characterized in that The method further comprises: The first negotiation feedback is obtained according to the first negotiation request and the priority indication information.

16. The method according to claim 14 or 15, characterized in that If it is determined based on the first negotiation request that the state of the vehicle parts corresponding to the first business module does not meet the conditions required for the vehicle state to be switched from the first state to the second state, and the priority of the second state is greater than a preset threshold or the priority of the second state is higher than the priority of the first state, the first negotiation feedback indicates agreement to switch the vehicle state from the first state to the second state.

17. The method according to any one of claims 11 to 16, characterized in that: The method further comprises: receiving a negotiation result sent by the management module, where the negotiation result is obtained based on the first negotiation feedback; If the negotiation result indicates execution of switching of the vehicle state, the vehicle state is switched from the first state to the second state.

18. The method according to any one of claims 11 to 17, characterized in that: The management module is deployed in the first domain controller of the vehicle.

19. The method according to claim 18, characterized in that The first service module is deployed on the second domain controller of the vehicle.

20. The method according to claim 18, wherein The first service module is deployed in the vehicle integrated unit VIU of the vehicle.

21. The method according to claim 18, wherein The first service module is deployed in the first domain controller of the vehicle.

22. A device for vehicle control, characterized in that: The device comprises a sending unit and a receiving unit, wherein: The sending unit is used to send a first negotiation request to the first business module, where the first negotiation request is used to inquire whether the first business module agrees to switch the state of the vehicle from the first state to the second state; The receiving unit is configured to receive first negotiation feedback sent by the first service module, where the first negotiation feedback is associated with the first negotiation request.

23. A device for vehicle control, characterized in that: The device comprises a receiving unit and a sending unit, wherein: The receiving unit is used to receive a first negotiation request sent by the management module, where the first negotiation request is used to inquire whether the first business module agrees to switch the state of the vehicle from the first state to the second state; The sending unit is configured to send a first negotiation feedback to the management module based on the first negotiation request.

24. A chip, characterized in that: The chip includes at least one processor and a communication interface; The communication interface is used to receive and / or send data, and / or the communication interface is used to provide input and / or output for the processor; The at least one processor is used to implement the method according to any one of claims 1 to 10, or to implement the method according to any one of claims 11 to 21.

25. A system, characterized in that The system comprises at least a first device and a second device, wherein: The first device is used to implement the method according to any one of claims 1 to 10, The second device is used to implement the method according to any one of claims 11 to 21.

26. A vehicle, characterized in that: The vehicle comprises the apparatus according to any one of claims 22 to 24, or comprises the system according to claim 25.

27. A computer-readable storage medium, characterized in that The computer-readable storage medium stores program instructions, and when the instructions are executed on at least one processor, the method according to any one of claims 1 to 10 is implemented, or the method according to any one of claims 11 to 21 is implemented.

28. A computer program product, characterized in that When the computer program product is run on a processor, the device for vehicle control executes the method according to any one of claims 1 to 10 or 11 to 21.

Images