Cooperative vehicle control method and related device

Abstract

The invention discloses a cooperative vehicle control method and relates to the technical field of intelligent driving. The method comprises the following steps: a first network element obtains first to-be-processed data; the first network element performs first processing on the first to-be-processed data to obtain a first processing result; the first network element sends a first processing result to a second network element, the first processing result is used for the second network element to perform vehicle control, and the second network element is a network element which does not execute the first processing; or the first network element performs vehicle control according to the first processing result, and the first network element comprises the vehicle-mounted gateway. According to the method, part of processing logic is unloaded from the second network element to the first network element, and the first network element cooperates with the second network element to complete logic processing, so that the technical problem that the second network element cannot perform first processing due to insufficient computing power resources and the like can be solved; therefore, the stock car carrying the second network element can also support new functional characteristics provided by updating the chip of the second network element. The invention further relates to a cooperative vehicle control device.

Description

A collaborative vehicle control method and related device Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a collaborative vehicle control method and related devices applied to an intelligent driving vehicle. Background Art

[0002] Intelligent driving systems assist drivers, including providing important or useful driving-related information. Typically, these systems are deployed on a domain controller (DC). They access data from sensors such as radar and cameras, and then make local calculations and decisions to implement appropriate control of the chassis and powertrain domains.

[0003] With the update and iteration of chips in intelligent driving systems, the improvement of chip computing power has brought about the improvement of decision-making performance of intelligent driving systems, providing drivers with new functional features.

[0004] However, existing vehicles with smart driving systems using old chips cannot support the new features provided by chip updates.

[0005] Summary of the Invention

[0006] The embodiments of the present application provide a collaborative vehicle control method and related devices, which offload part of the processing logic from the intelligent driving system to the on-board gateway, and use the on-board gateway to collaborate with the intelligent driving system to complete the logic processing, so that existing vehicles with intelligent driving systems with old chips can also support the new functional features provided by chip updates.

[0007] In a first aspect, an embodiment of the present application provides a collaborative vehicle control method, the method comprising:

[0008] The first network element obtains first data to be processed;

[0009] The first network element performs a first process on the first data to be processed to obtain a first processing result;

[0010] The first network element sends the first processing result to the second network element, and the first processing result is used by the second network element to control the vehicle, wherein the second network element includes a network element that does not perform the first processing, or the second network element is a network element that does not perform the first processing unit;

[0011] Alternatively, the first network element performs vehicle control according to the first processing result, and the first network element includes a vehicle gateway.

[0012] In an embodiment of the present application, a coordinated vehicle control method is provided, wherein a first network element obtains first data to be processed. The first data to be processed may be sent directly to the first network element by a sensing network element, or may be sent to a second network element by the sensing network element. The second network element determines whether the first data to be processed belongs to the processing logic portion offloaded to the first network element. If the first data to be processed belongs to the processing logic portion offloaded to the first network element, the second network element sends the first data to be processed to the first network element. The first network element performs a first process on the obtained first data to be processed, obtains a first process result, and sends the first process result to the second network element. At this time, the second network element may control the vehicle based on the first process result, or may implement the vehicle control function by sending the first process result to other network elements, wherein the first network element includes a network element with the ability to perform the first process and the communication capability, and the second network element is a network element that does not perform the first process. Alternatively, the first network element may directly control the vehicle based on the first process result, wherein the first network element includes a network element with the ability to perform the first process and the communication capability, such as an on-board gateway.

[0013] Currently, existing vehicles equipped with the second network element cannot support the new functional features provided by the chip update of the second network element. Compared with the current vehicle control method, the embodiment of the present application offloads part of the processing logic from the second network element to the first network element, that is, the first network element performs the first processing on the first data to be processed, and uses the first network element to cooperate with the second network element to complete the logical processing. This can enable existing vehicles equipped with the second network element to support the new functional features provided by the chip update of the second network element, and can also solve the technical defect that the second network element cannot perform the corresponding logical processing due to insufficient computing power resources. In addition, it can also reduce the resource waste caused by the surplus computing power resources of the first network element and improve the computing power resource utilization rate of the first network element.

[0014] In a possible implementation manner, the second network element further includes a network element that does not have the capability of executing the first processing.

[0015] In an embodiment of the present application, a possible specific implementation method of a second network element is provided, specifically, the second network element also includes a network element that does not have the ability to execute the first processing, wherein the network element that does not have the ability to execute the first processing can be understood as a possible situation of the network element that does not execute the first processing. For example, the second network element can be an intelligent driving domain controller, an intelligent cockpit domain controller, a whole vehicle domain controller, etc., and the second network element does not have the ability to execute the first processing due to reasons such as the chip update of the second network element or insufficient computing power resources of the second network element. Through the embodiment of the present application, part of the processing logic is unloaded from the second network element to the first network element, and the first network element is used to cooperate with the second network element to complete the logic processing, which can solve the problem that the second network element does not have the ability to execute the first processing, so that the existing vehicles equipped with the second network element can also support the new functional characteristics provided by the chip update of the second network element.

[0016] In a possible implementation, before performing the first processing on the first to-be-processed data, the method further includes:

[0017] Determine, based on first information, to perform the first processing on the first data to be processed; wherein the first information is used to instruct execution of the first processing.

[0018] In an embodiment of the present application, a possible specific implementation method for determining to perform a first processing on first data to be processed is provided. Specifically, before performing the first processing on the first data to be processed, it is also determined to perform the first processing on the first data to be processed based on the first information. Through the embodiment of the present application, the first network element can determine which of the acquired data to be processed should be processed based on the first information, and thus can determine to perform the first processing on the first data to be processed based on the first information, and cooperate with the second network element to complete the logical processing. This can solve the technical problem that the second network element cannot perform the first processing due to insufficient computing resources, etc., and enable existing vehicles equipped with the second network element to support new functional features provided by the chip update of the second network element.

[0019] In a possible implementation manner, the first information is further used to indicate that the first network element is allowed to perform the first processing.

[0020] In an embodiment of the present application, a possible specific implementation method of the first information is provided, specifically, the first information is also used to indicate that the first network element is allowed to perform the first processing. In this case, after the first network element obtains the first data to be processed, it can send a request to the second network element to request that the first processing be performed on the first data to be processed. Correspondingly, after the second network element receives the request, it sends the first information to the first network element to indicate that the first network element is allowed to perform the first processing. Through the embodiment of the present application, the second network element offloads part of the processing logic to the first network element, and uses the surplus computing power resources of the first network element to process the part of the processing logic, but still retains the control right of whether to allow the execution of the part of the processing logic, and uses the first network element to cooperate with the second network element to complete the logic processing, thereby realizing the corresponding vehicle control.

[0021] In a possible implementation manner, the first information is further used to indicate a third network element that sends the first data to be processed;

[0022] The determining to perform the first processing on the first to-be-processed data includes:

[0023] Determine to perform the first processing on the first to-be-processed data from the third network element.

[0024] In an embodiment of the present application, a possible specific implementation method of the first information is provided, specifically, the first information is also used to indicate a third network element that sends the first data to be processed. The third network element may be a perception network element that collects and sends the data to be processed. In this case, the first information may include information about the third network element that sends the first data to be processed, such as information such as the identifier of the third network element. The first information may also include path information of the first data to be processed from the third network element to the first network element, so that the third network element can be determined based on the path information. Through the embodiment of the present application, it is possible to determine which perception network element or type of perception network element the first data to be processed comes from based on the first information, thereby determining to perform different processing on the data to be processed from different perception network elements, for example, performing first processing on the first data to be processed from the third network element, and then coordinating with the second network element to complete logical processing to achieve corresponding vehicle control.

[0025] In a possible implementation manner, the first information is further used to indicate the second network element;

[0026] The sending the first processing result to the second network element includes:

[0027] Determine, based on the first information, to send the first processing result to the second network element.

[0028] In an embodiment of the present application, a possible specific implementation method of the first information is provided, specifically, the first information is also used to indicate the second network element. In this case, the first information may include information of the second network element, such as the identification of the second network element and other information. The first information may also include path information of the first processing result transmitted from the first network element to the second network element, so that the second network element can be determined based on the path information, and then the first processing result can be sent to the second network element based on the first information. Through the embodiment of the present application, different processing results obtained by processing different data to be processed can be determined based on the first information, and which control network element or type of control network element should be given to perform corresponding different vehicle controls. For example, the first processing result obtained by performing the first processing on the first data to be processed can be determined based on the first information to send the first processing result to the second network element, and the second network element can cooperate with the second network element to complete the logical processing so that the second network element can perform corresponding vehicle control.

[0029] In a possible implementation, performing the first processing on the first to-be-processed data includes:

[0030] The first processing is performed on the first data to be processed according to second information; wherein the second information includes a correspondence between the first data to be processed and the first processing.

[0031] In an embodiment of the present application, a possible specific implementation method for performing a first processing on the first data to be processed is provided, specifically, performing a first processing on the first data to be processed according to second information, the second information including the correspondence between the first data to be processed and the first processing. For example, when the first data to be processed is an image or video data from a camera, the first processing corresponding to the first data to be processed may be a logical processing of an image or video algorithm. When the first data to be processed is temperature data from a temperature sensor, the first processing corresponding to the first data to be processed may be a logical processing of a temperature algorithm. Through the embodiment of the present application, according to the correspondence between the first data to be processed and the first processing, correct logical processing can be performed on the first data to be processed, and the logical processing can be completed in collaboration with the second network element, thereby solving the technical problem that the second network element cannot perform the first processing due to insufficient computing resources, etc., so that the existing vehicles equipped with the second network element can also support the new functional features provided by the chip update of the second network element.

[0032] In a possible implementation, the second information further includes relevant information of the first process, and the relevant information of the first process includes at least one of the following:

[0033] Processing logic information required to execute the first process, parameter information required to execute the first process, and configuration information required to execute the first process.

[0034] In an embodiment of the present application, a possible specific implementation method of the second information is provided, specifically, the second information also includes information related to the first processing, including but not limited to the processing logic information required to perform the first processing, the parameter information required to perform the first processing, and the configuration information for performing the first processing. Through the embodiment of the present application, the processing logic information required to perform the first processing on the first data to be processed can be determined based on the configuration information, and the corresponding processing logic information can be called to perform the first processing. When performing the first processing, the parameter information required for the first processing will be coordinated to perform the corresponding calculations, and the second network element will be coordinated to complete the logic processing, thereby solving the technical problem that the second network element cannot perform the first processing due to insufficient computing resources and other reasons, so that the existing vehicles equipped with the second network element can also support the new functional features provided by the chip update of the second network element.

[0035] In a possible implementation manner, the second information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or the second network element.

[0036] In an embodiment of the present application, a possible specific implementation method for obtaining the second information is provided. Specifically, the second information can be obtained through various methods, such as over-the-air (OTA) upgrades, pre-configuration, and transmission by a second network element. The second information obtained through the embodiment of the present application can be used to perform corresponding first processing on the first data to be processed, thereby coordinating with the second network element to complete logical processing, resolving the technical issue of the second network element being unable to perform the first processing due to insufficient computing resources, etc., and enabling existing vehicles equipped with the second network element to support new functional features provided by the chip upgrade of the second network element.

[0037] In a possible implementation manner, the first information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or a network element with a communication orchestration function.

[0038] In an embodiment of the present application, a possible specific implementation method for obtaining the first information is provided. Specifically, the first information can be obtained through various methods, such as over-the-air (OTA) upgrades, pre-configuration, and transmission from a network element with communication orchestration capabilities. The first information obtained through the embodiment of the present application can be used to determine the corresponding first processing of the first data to be processed, so as to coordinate with the second network element to complete the logical processing, thereby resolving the technical problem of the second network element being unable to perform the first processing due to insufficient computing resources, etc., so that existing vehicles equipped with the second network element can also support the new functional features provided by the chip upgrade of the second network element.

[0039] In one possible implementation, the method further includes:

[0040] The first network element sends first capability information, where the first capability information indicates that the first network element has the capability to execute the first process.

[0041] In an embodiment of the present application, a possible specific implementation method for sending first capability information is provided, specifically, a first network element sends first capability information, and the first capability information indicates that the first network element has the ability to perform a first process. The first capability information sent by the embodiment of the present application can make the second network element aware that the first network element has the ability to perform the first process, thereby offloading the processing logic of the first process to the first network element, and using the first network element to collaborate with the second network element to complete the logical processing, thereby resolving the technical problem of the second network element being unable to perform the first process due to insufficient computing resources, etc., and enabling existing vehicles equipped with the second network element to support new functional features provided by the chip update of the second network element.

[0042] In a possible implementation, the first capability information includes information about the computing power required to execute the first processing.

[0043] In an embodiment of the present application, a possible specific implementation of the first capability information is provided. Specifically, the first capability information includes information about the computing power required to execute the first process. Through the first capability information in the embodiment of the present application, the second network element can confirm that the first network element has the ability to execute the first process, thereby offloading the processing logic of the first process to the first network element, and utilizing the first network element to collaborate with the second network element to complete the logical processing.

[0044] In a possible implementation manner, the first capability information is sent in at least one of the following ways: broadcast message, or point-to-point sending.

[0045] In an embodiment of the present application, a possible specific implementation method for sending first capability information is provided, specifically, the first network element can send the first capability information through a broadcast message or point-to-point, and correspondingly, the second network element can receive the first capability information through a broadcast message or point-to-point. Among them, the first network element can send the first capability information point-to-point to the second network element, and correspondingly, the second network element receives the first capability information sent by the first network element; the first network element can also send the first capability information point-to-point to an over-the-air upgrade OTA server, and the second network element obtains the first capability information through the over-the-air upgrade OTA. In addition, the first network element can also obtain the above-mentioned first information and / or second information through the over-the-air upgrade OTA to determine the corresponding first processing of the first to-be-processed data and cooperate with the second network element to complete the logical processing.

[0046] In a possible implementation, the first processing is performed when the following conditions are met: the first network element has computing power to perform the first processing, and the second network element does not have computing power to perform the first processing.

[0047] In an embodiment of the present application, a possible specific implementation method of the first processing is provided, specifically, the first processing needs to satisfy that the first network element has the computing power to perform the first processing, and the second network element does not have the computing power to perform the first processing. Through the embodiment of the present application, the second network element cannot support the functional characteristics corresponding to the first processing because it does not have the computing power or ability to perform the first processing, and the first network element has the computing power or ability to perform the first processing. The second network element unloads the processing logic corresponding to the first processing to the first network element, that is, the first network element performs the first processing on the first data to be processed, and uses the first network element to cooperate with the second network element to complete the logical processing, which can solve the technical problem that the second network element cannot perform the first processing due to insufficient computing power resources, so that the existing vehicles equipped with the second network element can also support the functional characteristics corresponding to the first processing. In addition, it can also reduce the waste of resources caused by the surplus computing power resources of the first network element and improve the computing power resource utilization rate of the first network element.

[0048] In a possible implementation, the first network element includes a micro-processing unit MPU and a micro-control unit MCU.

[0049] In an embodiment of the present application, a possible specific implementation method of a first network element is provided, specifically, the first network element is a network element including a microprocessor unit MPU and a microcontroller unit MCU, that is, the computing power resources of the first network element are sufficient to perform the first processing; the first network element may also be a network element including a microcontroller unit MCU, in which case the computing power resources of the microcontroller unit MCU included in the first network element are relatively sufficient to perform the first processing. Through the first network element in the embodiment of the present application, it is possible to cooperate with the second network element to complete part of the logical processing, solve the technical problem that the second network element cannot perform the first processing due to insufficient computing power resources, etc., so that the existing vehicles equipped with the second network element can also support the functional characteristics corresponding to the first processing, and it can also reduce the waste of resources caused by the surplus computing power resources of the first network element and improve the computing power resource utilization rate of the first network element.

[0050] In a second aspect, an embodiment of the present application provides a collaborative vehicle control method, the method comprising:

[0051] The second network element receives a first processing result sent by the first network element, where the first processing result includes a processing result obtained by the first network element performing a first processing on the first data to be processed, and the second network element is a network element that does not perform the first processing;

[0052] The second network element controls the vehicle according to the first processing result.

[0053] In a possible implementation, the second network element performing vehicle control according to the first processing result includes:

[0054] The second network element performs vehicle control based on the fusion result, wherein the fusion result is associated with the first processing result and the second processing result, or the fusion result is associated with the first processing result and the second data to be processed, and the second processing result includes a processing result obtained by the second network element performing a second processing on the second data to be processed.

[0055] In an embodiment of the present application, a collaborative vehicle control method is provided, wherein a second network element receives a first processing result sent by a first network element, the first processing result including the result obtained by the first network element performing a first processing on first data to be processed. The first data to be processed may be sent directly to the first network element by the sensing network element, or may be sent to the second network element by the sensing network element. The second network element determines whether the first data to be processed belongs to the processing logic part unloaded to the first network element. If it is determined that the first data to be processed belongs to the processing logic part unloaded to the first network element, the second network element sends the first data to be processed to the first network element. The second network element may control the vehicle based on the received first processing result, or may control the vehicle based on the result obtained by fusing the first processing result with other processing results, or may control the vehicle based on the result obtained by fusing the first processing result with other data to be processed. The first network element includes a network element having the ability to perform the first processing and the communication capability, such as an on-board gateway, etc. The second network element is a network element that does not perform the first processing.

[0056] Currently, existing vehicles equipped with the second network element cannot support the new functional features provided by the chip update of the second network element. Compared with the current vehicle control method, the embodiment of the present application offloads part of the processing logic from the second network element to the first network element, that is, the first network element performs the first processing on the first data to be processed, and uses the first network element to cooperate with the second network element to complete the logical processing. This can enable existing vehicles equipped with the second network element to support the new functional features provided by the chip update of the second network element, and can also solve the technical defect that the second network element cannot perform the corresponding logical processing due to insufficient computing power resources. In addition, it can also reduce the resource waste caused by the surplus computing power resources of the first network element and improve the computing power resource utilization rate of the first network element.

[0057] In a possible implementation manner, the second network element further includes a network element that does not have the capability of executing the first processing.

[0058] In an embodiment of the present application, a possible specific implementation method of a second network element is provided, specifically, the second network element also includes a network element that does not have the ability to execute the first processing, wherein the network element that does not have the ability to execute the first processing can be understood as a possible situation of the network element that does not execute the first processing. For example, the second network element can be an intelligent driving domain controller, an intelligent cockpit domain controller, a whole vehicle domain controller, etc., and the second network element does not have the ability to execute the first processing due to reasons such as the chip update of the second network element or insufficient computing power resources of the second network element. Through the embodiment of the present application, part of the processing logic is unloaded from the second network element to the first network element, and the first network element is used to cooperate with the second network element to complete the logic processing, which can solve the problem that the second network element does not have the ability to execute the first processing, so that the existing vehicles equipped with the second network element can also support the new functional characteristics provided by the chip update of the second network element.

[0059] In a possible implementation, performing the first processing on the first data to be processed is associated with first information, and the first information is used to instruct execution of the first processing.

[0060] In an embodiment of the present application, a possible specific implementation method for determining that a first processing is performed on first data to be processed is provided. Specifically, the first information can be used to determine that the first processing is performed on the first data to be processed, and the first information is used to indicate the execution of the first processing. Through the embodiment of the present application, it can be determined which of the acquired data to be processed should be processed based on the first information, so that it can be determined that the first processing is performed on the first data to be processed based on the first information, and the second network element can be coordinated to complete the logical processing. This can solve the technical problem that the second network element cannot perform the first processing due to insufficient computing power resources, etc., so that the existing vehicles equipped with the second network element can also support the new functional features provided by the chip update of the second network element.

[0061] In a possible implementation manner, the first information is further used to indicate that the first network element is allowed to perform the first processing.

[0062] In an embodiment of the present application, a possible specific implementation method of the first information is provided, specifically, the first information is also used to indicate that the first network element is allowed to perform the first processing. In this case, after the first network element obtains the first data to be processed, it can send a request to the second network element to request that the first processing be performed on the first data to be processed. Correspondingly, after the second network element receives the request, it sends the first information to the first network element to indicate that the first network element is allowed to perform the first processing. Through the embodiment of the present application, the second network element offloads part of the processing logic to the first network element, and uses the surplus computing power resources of the first network element to process the part of the processing logic, but still retains the control right of whether to allow the execution of the part of the processing logic, and uses the first network element to cooperate with the second network element to complete the logic processing, thereby realizing the corresponding vehicle control.

[0063] In a possible implementation manner, the first information is further used to indicate a third network element that sends the first data to be processed; and performing the first processing on the first data to be processed from the third network element is associated with the first information.

[0064] In an embodiment of the present application, a possible specific implementation method of the first information is provided, specifically, the first information is also used to indicate the third network element that sends the first data to be processed. The third network element may be a perception network element that collects and sends the data to be processed. In this case, the first information may include information about the third network element that sends the first data to be processed, such as the identifier of the third network element and other information. The first information may also include path information of the first data to be processed from the third network element to the first network element, so that the third network element can be determined based on the path information. Through the embodiment of the present application, it is possible to determine which perception network element or type of perception network element the first data to be processed comes from based on the first information, thereby determining to perform corresponding different processing on the data to be processed from different perception network elements, for example, performing first processing on the first data to be processed from the third network element, and then coordinating with the second network element to complete logical processing to achieve corresponding vehicle control.

[0065] In a possible implementation manner, the first information is further used to indicate the second network element; and determining that the first processing result is sent to the second network element is associated with the first information.

[0066] In an embodiment of the present application, a possible specific implementation of the first information is provided, specifically, the first information is also used to indicate the second network element. In this case, the first information may include information of the second network element, such as the identification of the second network element and other information. The first information may also include path information of the first processing result transmitted from the first network element to the second network element, so that the second network element can be determined based on the path information, and then the first processing result is determined to be sent to the second network element based on the first information. Accordingly, the second network element determines to receive the first processing result sent by the first network element. Through the embodiment of the present application, different processing results obtained by processing different data to be processed can be determined based on the first information, and which control network element or type of control network element should be given to perform corresponding different vehicle controls. For example, the first processing result obtained by performing the first processing on the first data to be processed can be determined based on the first information to send the first processing result to the second network element, and the second network element can cooperate with the second network element to complete logical processing so that the second network element can perform corresponding vehicle control.

[0067] In a possible implementation, the first processing performed on the first data to be processed is associated with second information; wherein the second information includes a corresponding relationship between the first data to be processed and the first processing.

[0068] In an embodiment of the present application, a possible specific implementation method for performing a first processing on the first data to be processed is provided, specifically, performing a first processing on the first data to be processed according to second information, the second information including the correspondence between the first data to be processed and the first processing. For example, when the first data to be processed is an image or video data from a camera, the first processing corresponding to the first data to be processed may be a logical processing of an image or video algorithm. When the first data to be processed is temperature data from a temperature sensor, the first processing corresponding to the first data to be processed may be a logical processing of a temperature algorithm. Through the embodiment of the present application, according to the correspondence between the first data to be processed and the first processing, correct logical processing can be performed on the first data to be processed, and the logical processing can be completed in collaboration with the second network element, thereby solving the technical problem that the second network element cannot perform the first processing due to insufficient computing resources, etc., so that the existing vehicles equipped with the second network element can also support the new functional features provided by the chip update of the second network element.

[0069] In a possible implementation, the second information further includes relevant information of the first process, and the relevant information of the first process includes at least one of the following:

[0070] Processing logic information required to execute the first process, parameter information required to execute the first process, and configuration information required to execute the first process.

[0071] In an embodiment of the present application, a possible specific implementation method of the second information is provided, specifically, the second information also includes information related to the first processing, including but not limited to the processing logic information required to perform the first processing, the parameter information required to perform the first processing, and the configuration information for performing the first processing. Through the embodiment of the present application, the processing logic information required to perform the first processing on the first data to be processed can be determined based on the configuration information, and the corresponding processing logic information can be called to perform the first processing. When performing the first processing, the parameter information required for the first processing will be coordinated to perform the corresponding calculations, and the second network element will be coordinated to complete the logic processing, thereby solving the technical problem that the second network element cannot perform the first processing due to insufficient computing resources and other reasons, so that the existing vehicles equipped with the second network element can also support the new functional features provided by the chip update of the second network element.

[0072] In a possible implementation manner, the second information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or the second network element.

[0073] In an embodiment of the present application, a possible specific implementation method for obtaining the second information is provided. Specifically, the second information can be obtained through various methods, such as over-the-air (OTA) upgrades, pre-configuration, and transmission by a second network element. The second information obtained through the embodiment of the present application can be used to perform corresponding first processing on the first data to be processed, thereby coordinating with the second network element to complete logical processing, resolving the technical issue of the second network element being unable to perform the first processing due to insufficient computing resources, etc., and enabling existing vehicles equipped with the second network element to support new functional features provided by the chip upgrade of the second network element.

[0074] In a possible implementation manner, the first information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or a network element with a communication orchestration function.

[0075] In an embodiment of the present application, a possible specific implementation method for obtaining the first information is provided. Specifically, the first information can be obtained through various methods, such as over-the-air (OTA) upgrades, pre-configuration, and transmission from a network element with communication orchestration capabilities. The first information obtained through the embodiment of the present application can be used to determine the corresponding first processing of the first data to be processed, so as to coordinate with the second network element to complete the logical processing, thereby resolving the technical problem of the second network element being unable to perform the first processing due to insufficient computing resources, etc., so that existing vehicles equipped with the second network element can also support the new functional features provided by the chip upgrade of the second network element.

[0076] In one possible implementation, the method further includes:

[0077] The second network element receives first capability information, where the first capability information indicates that the first network element has the capability to execute the first process.

[0078] In an embodiment of the present application, a possible specific implementation method for receiving first capability information is provided, specifically, a second network element receives the first capability information, and the first capability information indicates that the first network element has the ability to perform the first process. The first capability information received in the embodiment of the present application allows the second network element to know that the first network element has the ability to perform the first process, thereby offloading the processing logic of the first process to the first network element, and utilizing the first network element to collaborate with the second network element to complete the logical processing, thereby resolving the technical issue of the second network element being unable to perform the first process due to insufficient computing resources, etc., and enabling existing vehicles equipped with the second network element to support new functional features provided by the chip update of the second network element.

[0079] In a possible implementation, the first capability information includes information about the computing power required to execute the first processing.

[0080] In an embodiment of the present application, a possible specific implementation of the first capability information is provided. Specifically, the first capability information includes information about the computing power required to execute the first process. Through the first capability information in the embodiment of the present application, the second network element can confirm that the first network element has the ability to execute the first process, thereby offloading the processing logic of the first process to the first network element, and utilizing the first network element to collaborate with the second network element to complete the logical processing.

[0081] In a possible implementation manner, the first capability information is received in at least one of the following ways: a broadcast message, or point-to-point reception.

[0082] In an embodiment of the present application, a possible specific implementation method for receiving first capability information is provided, specifically, the first network element can send the first capability information through a broadcast message or point-to-point, and correspondingly, the second network element can receive the first capability information through a broadcast message or point-to-point. Among them, the first network element can send the first capability information point-to-point to the second network element, and correspondingly, the second network element receives the first capability information sent by the first network element; the first network element can also send the first capability information point-to-point to an over-the-air upgrade OTA server, and the second network element obtains the first capability information through the over-the-air upgrade OTA. In addition, the first network element can also obtain the above-mentioned first information and / or second information through the over-the-air upgrade OTA to determine the corresponding first processing of the first to-be-processed data and cooperate with the second network element to complete the logical processing.

[0083] In a possible implementation, the first processing is performed when the following conditions are met: the first network element has computing power to perform the first processing, and the second network element does not have computing power to perform the first processing.

[0084] In an embodiment of the present application, a possible specific implementation method of the first processing is provided, specifically, the first processing needs to satisfy that the first network element has the computing power to perform the first processing, and the second network element does not have the computing power to perform the first processing. Through the embodiment of the present application, the second network element cannot support the functional characteristics corresponding to the first processing because it does not have the computing power or ability to perform the first processing, and the first network element has the computing power or ability to perform the first processing. The second network element unloads the processing logic corresponding to the first processing to the first network element, that is, the first network element performs the first processing on the first data to be processed, and uses the first network element to cooperate with the second network element to complete the logical processing, which can solve the technical problem that the second network element cannot perform the first processing due to insufficient computing power resources, so that the existing vehicles equipped with the second network element can also support the functional characteristics corresponding to the first processing. In addition, it can also reduce the waste of resources caused by the surplus computing power resources of the first network element and improve the computing power resource utilization rate of the first network element.

[0085] In a possible implementation, the first network element includes a micro-processing unit MPU and a micro-control unit MCU.

[0086] In an embodiment of the present application, a possible specific implementation method of a first network element is provided, specifically, the first network element is a network element including a microprocessor unit MPU and a microcontroller unit MCU, that is, the computing power resources of the first network element are sufficient to perform the first processing; the first network element may also be a network element including a microcontroller unit MCU, in which case the computing power resources of the microcontroller unit MCU included in the first network element are relatively sufficient to perform the first processing. Through the first network element in the embodiment of the present application, it is possible to cooperate with the second network element to complete part of the logical processing, solve the technical problem that the second network element cannot perform the first processing due to insufficient computing power resources, etc., so that the existing vehicles equipped with the second network element can also support the functional characteristics corresponding to the first processing, and it can also reduce the waste of resources caused by the surplus computing power resources of the first network element and improve the computing power resource utilization rate of the first network element.

[0087] In a third aspect, an embodiment of the present application provides a collaborative vehicle control device, which includes a module or unit for executing the method described in the first aspect or any one of the second aspects.

[0088] In one possible design, the apparatus includes:

[0089] A processing unit, configured to obtain first data to be processed;

[0090] The processing unit is further configured to perform a first processing on the first data to be processed to obtain a first processing result;

[0091] a transceiver unit, configured to send the first processing result to a second network element, where the first processing result is used by the second network element to control the vehicle, wherein the second network element is a network element that does not perform the first processing;

[0092] Alternatively, the processing unit is further used to control the vehicle according to the first processing result, and the collaborative vehicle control device includes a vehicle-mounted gateway.

[0093] In a possible implementation manner, the second network element further includes a network element that does not have the capability of executing the first processing.

[0094] In a possible implementation, the processing unit is further configured to determine, before performing the first processing on the first data to be processed, based on first information, whether to perform the first processing on the first data to be processed; wherein the first information is used to instruct execution of the first processing.

[0095] In a possible implementation manner, the first information is further used to indicate that the collaborative vehicle control device is allowed to execute the first process.

[0096] In a possible implementation manner, the first information is further used to indicate a third network element that sends the first data to be processed;

[0097] The processing unit is further configured to determine to perform the first processing on the first to-be-processed data from the third network element.

[0098] In a possible implementation manner, the first information is further used to indicate the second network element;

[0099] The processing unit is further used to determine, based on the first information, to send the first processing result to the second network element.

[0100] In a possible implementation, the processing unit is specifically configured to perform the first processing on the first data to be processed according to second information; wherein the second information includes a correspondence between the first data to be processed and the first processing.

[0101] In a possible implementation, the second information further includes relevant information of the first process, and the relevant information of the first process includes at least one of the following:

[0102] Processing logic information required to execute the first process, parameter information required to execute the first process, and configuration information required to execute the first process.

[0103] In a possible implementation manner, the second information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or the second network element.

[0104] In a possible implementation manner, the first information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or a network element with a communication orchestration function.

[0105] In a possible implementation, the transceiver unit is further configured to send first capability information, where the first capability information indicates that the collaborative vehicle control device has the capability to execute the first processing.

[0106] In a possible implementation, the first capability information includes information about the computing power required to execute the first processing.

[0107] In a possible implementation manner, the first capability information is sent in at least one of the following ways: broadcast message, or point-to-point sending.

[0108] In a possible implementation, the first processing is performed when the following conditions are met: the collaborative vehicle control device has the computing power to execute the first processing, and the second network element does not have the computing power to execute the first processing.

[0109] In a possible implementation, the collaborative vehicle control device includes a microprocessor unit MPU and a microcontroller unit MCU.

[0110] Regarding the technical effects brought about by the third aspect and any possible implementation method, please refer to the introduction of the technical effects corresponding to the first aspect and the corresponding implementation method.

[0111] In another possible design, the apparatus includes:

[0112] a transceiver unit, configured to receive a first processing result sent by a first network element, wherein the first processing result includes a processing result obtained by the first network element performing a first processing on the first data to be processed, and the collaborative vehicle control device includes a device that does not perform the first processing;

[0113] A processing unit is used to control the vehicle according to the first processing result.

[0114] In a possible embodiment, the processing unit is also used to control the vehicle based on the fusion result, wherein the fusion result is associated with the first processing result and the second processing result, or the fusion result is associated with the first processing result and the second data to be processed, and the second processing result includes the processing result obtained by the collaborative vehicle control device performing a second processing on the second data to be processed.

[0115] In a possible implementation, the collaborative vehicle control device further includes a network element that does not have the ability to execute the first processing.

[0116] In a possible implementation, performing the first processing on the first data to be processed is associated with first information, and the first information is used to instruct execution of the first processing.

[0117] In a possible implementation manner, the first information is further used to indicate that the first network element is allowed to perform the first processing.

[0118] In a possible implementation manner, the first information is further used to indicate a third network element that sends the first data to be processed; and performing the first processing on the first data to be processed from the third network element is associated with the first information.

[0119] In a possible implementation manner, the first information is further used to indicate the collaborative vehicle control device; and determining that the first processing result is sent to the collaborative vehicle control device is associated with the first information.

[0120] In a possible implementation, the first processing performed on the first data to be processed is associated with second information; wherein the second information includes a corresponding relationship between the first data to be processed and the first processing.

[0121] In a possible implementation, the second information further includes relevant information of the first process, and the relevant information of the first process includes at least one of the following:

[0122] Processing logic information required to execute the first process, parameter information required to execute the first process, and configuration information required to execute the first process.

[0123] In a possible implementation manner, the second information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or the collaborative vehicle control device.

[0124] In a possible implementation manner, the first information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or a network element with a communication orchestration function.

[0125] In a possible implementation, the transceiver unit is further configured to receive first capability information, where the first capability information indicates that the first network element has the capability to execute the first process.

[0126] In a possible implementation, the first capability information includes information about the computing power required to execute the first processing.

[0127] In a possible implementation manner, the first capability information is received in at least one of the following ways: a broadcast message, or point-to-point reception.

[0128] In a possible implementation, the first processing is performed when the following conditions are met: the first network element has the computing power to perform the first processing, and the collaborative vehicle control device does not have the computing power to perform the first processing.

[0129] In a possible implementation, the first network element includes a micro-processing unit MPU and a micro-control unit MCU.

[0130] Regarding the technical effects brought about by the third aspect and any possible implementation method, please refer to the introduction of the technical effects corresponding to the second aspect and the corresponding implementation method.

[0131] In a fourth aspect, an embodiment of the present application provides an electronic device comprising a processor. The processor is coupled to a memory and can be configured to execute instructions in the memory to implement the method of any of the first and second aspects described above and any possible implementation methods. Optionally, the electronic device further comprises a memory. Optionally, the electronic device further comprises a communication interface, the processor being coupled to the communication interface.

[0132] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, which is used to store a computer program (also referred to as code, or instructions); when the computer program is run on a computer, the method of any one of the above-mentioned first to second aspects and any possible implementation method is implemented.

[0133] In a sixth aspect, an embodiment of the present application provides a computer program product, which includes: a computer program (also referred to as code, or instructions); when the computer program is run, it enables the computer to execute any one of the above-mentioned first to second aspects and any possible implementation method.

[0134] In a seventh aspect, an embodiment of the present application provides a chip, comprising a processor configured to execute instructions. When the processor executes the instructions, the chip performs the method of any one of the first and second aspects and any possible implementation methods described above. Optionally, the chip further comprises a communication interface configured to receive or send signals.

[0135] In an eighth aspect, an embodiment of the present application provides a vehicle side, which includes at least one collaborative vehicle control device as described in the third aspect, or the electronic device as described in the fourth aspect, or the chip as described in the seventh aspect.

[0136] In the ninth aspect, an embodiment of the present application provides a system, which includes a vehicle side and at least one collaborative vehicle control device as described in the third aspect, or the electronic device as described in the fourth aspect, or the chip as described in the seventh aspect.

[0137] In addition, in the process of executing the method described in the first aspect and any possible embodiment, or the method described in the second aspect and any possible embodiment, the process of sending information and / or receiving information in the above method can be understood as the process of the processor outputting information, and / or the process of the processor receiving input information. When outputting information, the processor can output the information to the transceiver (or communication interface, or sending module) so that it can be transmitted by the transceiver. After the information is output by the processor, it may also need to undergo other processing before it reaches the transceiver. Similarly, when the processor receives input information, the transceiver (or communication interface, or sending module) receives the information and inputs it into the processor. Furthermore, after the transceiver receives the information, the information may need to undergo other processing before it is input into the processor.

[0138] Based on the above principles, for example, the sending of information mentioned in the above method can be understood as the processor outputting information. For another example, the receiving of information can be understood as the processor receiving input information.

[0139] Optionally, for the operations such as transmission, sending and receiving involved in the processor, if there is no special explanation, or if they do not conflict with their actual functions or internal logic in the relevant description, they can be more generally understood as processor output, reception, input and other operations.

[0140] Optionally, in the process of executing the method described in the first aspect and any possible embodiment, or the method described in the second aspect and any possible embodiment, the processor may be a processor specifically used to execute these methods, or a processor that executes these methods by executing computer instructions in a memory, such as a general-purpose processor. The memory may be a non-transitory memory, such as a read-only memory (ROM), which may be integrated with the processor on the same chip or may be separately provided on different chips. The embodiments of the present application do not limit the type of memory and the configuration of the memory and the processor.

[0141] In a possible implementation, the at least one memory is located outside the device.

[0142] In yet another possible implementation, the at least one memory is located within the device.

[0143] In another possible implementation, part of the at least one memory is located inside the device, and another part of the memory is located outside the device.

[0144] In this application, the processor and the memory may also be integrated into one device, that is, the processor and the memory may also be integrated together.

[0145] In an embodiment of the present application, part of the processing logic is unloaded from the second network element to the first network element, and the first network element is used to cooperate with the second network element to complete the logic processing. This can solve the technical problem that the second network element cannot perform the first processing due to insufficient computing resources, etc., so that the existing vehicles equipped with the second network element can also support the new functional features provided by the chip update of the second network element. BRIEF DESCRIPTION OF THE DRAWINGS

[0146] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments of the present application. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0147] FIG1A is a schematic diagram of the architecture of a vehicle control system provided in an embodiment of the present application;

[0148] FIG1B is a schematic diagram of the architecture of another vehicle control system provided in an embodiment of the present application;

[0149] FIG2 is a schematic diagram of the architecture of a collaborative vehicle control system provided in an embodiment of the present application;

[0150] FIG3 is a schematic diagram of the architecture of another collaborative vehicle control system provided in an embodiment of the present application;

[0151] FIG4 is a schematic diagram of a process flow of a collaborative vehicle control method provided in an embodiment of the present application;

[0152] FIG5 is a flow chart of another collaborative vehicle control method provided in an embodiment of the present application;

[0153] FIG6 is a schematic diagram of a communication route provided in an embodiment of the present application;

[0154] FIG7 is a schematic diagram of an over-the-air (OTA) upgrade provided in an embodiment of the present application;

[0155] FIG8 is a flow chart of another collaborative vehicle control method provided in an embodiment of the present application;

[0156] FIG9 is a schematic structural diagram of a collaborative vehicle control device provided in an embodiment of the present application;

[0157] FIG10 is a schematic structural diagram of an electronic device provided in an embodiment of the present application;

[0158] FIG11 is a schematic diagram of the structure of a chip provided in an embodiment of the present application. DETAILED DESCRIPTION

[0159] In order to make the purpose, technical solutions and advantages of this application clearer, the embodiments of this application will be described below in conjunction with the drawings in the embodiments of this application.

[0160] The terms "first" and "second" in the specification, claims, and drawings of this application are used to distinguish different objects, not to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to the process, method, product, or device.

[0161] The “embodiment” mentioned herein means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It can be understood explicitly and implicitly by those skilled in the art that in the various embodiments of the present application, unless otherwise specified and there is a logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form a new embodiment according to their inherent logical relationship.

[0162] It should be understood that in the present application, "at least one (item)" refers to one or more, "more than one" refers to two or more, "at least two (items)" refers to two or three and more than three, and "and / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0163] This application provides a collaborative vehicle control method. In order to more clearly describe the solution of this application, some knowledge related to vehicle control is first introduced below.

[0164] Currently, vehicle control is divided into five major areas based on function: power domain, chassis domain, cockpit domain, autonomous driving domain, and body domain. Each area has a corresponding domain controller, which is finally connected to the backbone line or even hosted in the cloud through communication methods such as the controller area network (CAN) or local interconnect network (LIN), thereby realizing the interaction of vehicle information data.

[0165] Intelligent driving domain controller: Intelligent driving cars contain four core subsystems: sensors, computing platforms, actuators and application algorithms. The intelligent driving domain controller is positioned as a computing platform. It is the "brain" of the car that realizes intelligent driving panoramic perception, map and sensor fusion positioning, decision-making, planning, control and other functions. It is suitable for various application scenarios such as passenger cars (such as congested following, high-speed cruising, and automatic valet parking), commercial vehicles (such as port freight and trunk logistics) and work vehicles (such as mining trucks, cleaning vehicles, and unmanned delivery).

[0166] Intelligent cockpit domain controller: The intelligent cockpit domain controller needs to have excellent processing performance to support cockpit domain applications such as voice recognition and gesture recognition; provide excellent display performance support, while supporting virtualization technology and single-chip multi-screen display to meet the display requirements of instrument screens and central control screens of various sizes, and isolate applications with different security levels. At the same time, it provides external and internal communication capabilities and a stable, high-speed communication network to easily meet the network requirements of various high-bandwidth applications.

[0167] Vehicle Domain Controller: As vehicles evolve, the number of body controllers increases. To reduce controller costs and overall vehicle weight, integration is required to connect all functional components—from the front, center, and rear of the vehicle, such as the rear brake lights, rear position lights, tailgate lock, and even the double struts—to a single, centralized controller. Vehicle domain controllers are gradually transitioning from a decentralized functional stack to a single, integrated controller encompassing all body electronics, including basic drive, key functions, lights, doors, and windows.

[0168] The Power Domain Controller (PDC) is an intelligent powertrain management unit that uses CAN and other communication methods to manage the transmission, battery monitoring, and alternator regulation. Its advantage lies in calculating and distributing torque for various powertrain components (such as the internal combustion engine, electric motor / generator, battery, and transmission), and reducing CO2 emissions by predicting driving strategies.

[0169] Chassis Domain Controller: The chassis domain is related to vehicle operation and consists of the transmission, driving, steering, and braking systems. With the advancement of intelligent vehicles, the control execution side of the three core systems of intelligent vehicles, namely perception and recognition, decision-making and planning, and control execution, primarily includes drive control, steering control, and braking control. This requires the chassis of traditional vehicles to be modified for wire-controlled operation to adapt to autonomous driving.

[0170] In-vehicle gateway: As the core control device of the vehicle network system, the in-vehicle gateway is responsible for coordinating protocol conversion, data exchange, and fault diagnosis between CAN bus networks and other data networks with different structures and characteristics. When networks with different architectures or protocols communicate, the in-vehicle gateway provides network compatibility functions such as protocol conversion and data exchange. The in-vehicle gateway can be understood as a connector between networks, a protocol converter, and a data translator. It can be used for both wide-area and local-area interconnection, acting as a computer system or device that performs conversion tasks, translating between systems using different protocols, data, or languages, or even two completely different architectures.

[0171] Over-the-air (OTA) is a data-based value-added service (referred to as OTA) that uses a short message mechanism to dynamically download, delete, and update the service menu in the subscriber identification module (SIM) card through a terminal or server (online), enabling users to obtain personalized information services. It is a technology that remotely manages SIM card data and applications through the mobile communications air interface. The application of OTA technology enables mobile communications to provide not only voice and data services, but also the download of new services.

[0172] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0173] Please refer to FIG. 1A , which is a schematic diagram of the architecture of a vehicle control system provided in an embodiment of the present application.

[0174] As shown in Figure 1A, the vehicle control system mainly includes sensors such as radar and cameras, an intelligent driving system, a chassis domain, a power domain, body components such as wipers and lights, and multiple on-board gateways.

[0175] Among them, the intelligent driving system obtains the data to be processed by accessing sensors such as radars and cameras, and then performs local calculations on the data to be processed to obtain the calculation results, and makes decisions based on the calculation results, thereby performing corresponding control on the chassis domain and power domain. The intelligent driving system can also transmit decision instructions to body components such as wipers and lights through the on-board gateway, thereby performing corresponding control on body components such as wipers and lights.

[0176] Generally, the processor onboard the vehicle gateway is a low-performance microcontroller unit (MCU). Due to the computing power limitation of the vehicle gateway, it mainly implements traditional functions such as data forwarding and fault diagnosis. For example, an external diagnostic instrument can diagnose the domain controller of the intelligent driving system through the vehicle gateway.

[0177] With the development of intelligent driving technology, the chip performance of in-vehicle gateways is also constantly improving. There are intelligent gateways equipped with both microprocessor units (MPUs) and MCUs. These gateways have rich interfaces and can support sensors such as radars and cameras to access the gateway nearby without having to connect to the domain controller of the intelligent driving system.

[0178] For details, please refer to FIG1B , which is a schematic diagram of the architecture of another vehicle control system provided in an embodiment of the present application.

[0179] As shown in Figure 1B, the vehicle control system mainly includes sensors such as radars and cameras, an intelligent driving system, a chassis domain, a power domain, body components such as wipers and lights, and multiple on-board gateways.

[0180] Among them, the connection relationship of each device is similar to the connection relationship of Figure 1A above, and will not be repeated here. Unlike Figure 1A above, the vehicle gateway 1 in this vehicle control system is an intelligent gateway equipped with both an MPU and an MCU, which can support sensors such as radars and cameras to access the vehicle gateway nearby without having to connect to the domain controller of the intelligent driving system. Accordingly, the intelligent driving system does not need to access a wide variety of sensors. It can obtain the data to be processed by accessing each vehicle gateway, and then perform local calculations on the data to be processed to obtain the calculation results, and make decisions based on the calculation results, thereby controlling the chassis domain and power domain accordingly. The intelligent driving system can also transmit decision instructions to body components such as wipers and lights through the vehicle gateway, thereby controlling the body components such as wipers and lights accordingly. It should be understood that the vehicle gateway in this vehicle control system can also be equipped with only an MCU, and this should not constitute a limitation to this application. Due to the strong performance of the MCU carried, it can also support sensors such as radars and cameras to access the vehicle gateway nearby.

[0181] It should be understood that the modules / architecture of the vehicle control system shown in Figures 1A and 1B above are divided based on logical functions. In actual applications, the functions of one module can also be implemented by multiple modules, or the functions of multiple modules can be implemented by one module. The vehicle control system shown in the embodiment of the present application is only used as a possible architectural implementation method and should not be used to limit the present application.

[0182] However, whether it is the above-mentioned vehicle gateway equipped with both MPU and MCU, or the above-mentioned vehicle gateway equipped with only a high-performance MCU, it mainly implements traditional functions such as data forwarding and fault diagnosis. Such traditional services cannot consume the computing power resources brought about by the performance improvement of the vehicle gateway chip. The gateway has a lot of resource waste due to the surplus computing power resources, and the computing power resource utilization rate is low.

[0183] Furthermore, sensors such as radars and cameras can be configured to transmit raw data directly to the intelligent driving system for processing, or they can be configured to process the raw data through local processing units and then transmit the results to the intelligent driving system. Because the chips in intelligent driving systems generally have strong computing power, some scenarios require the raw data collected by sensors. In such cases, the in-vehicle gateway's forwarding of large amounts of raw data will consume a large amount of link resources, potentially leading to communication obstruction.

[0184] Furthermore, with the development of intelligent driving technology, the chip performance of intelligent driving domain controllers has continued to improve. This increase in chip computing power has led to an evolution in the decision-making systems within intelligent driving systems. For example, with the update and iteration of intelligent driving system chips, the increase in chip computing power has led to improved decision-making performance in intelligent driving systems, providing drivers with new features. However, existing vehicles using intelligent driving systems with older chips are unable to support the new features provided by the chip upgrade.

[0185] In response to the technical problems existing in the above-mentioned vehicle control method, such as low computing power resource utilization, large link resource consumption, and the inability of existing vehicles with intelligent driving systems using old chips to support new functional features provided by chip updates, the present application provides a new collaborative vehicle control architecture, and based on this architecture, proposes a new collaborative vehicle control method, which unloads part of the processing logic from the second network element to the first network element, and uses the first network element to cooperate with the second network element to complete the logical processing. This can solve the technical problem that the second network element cannot perform the first processing due to insufficient computing power resources, etc., so that existing vehicles equipped with the second network element can also support the new functional features provided by the chip update of the second network element; in addition, it can also reduce the large amount of resource waste caused by the surplus computing power resources of the first network element, improve the computing power resource utilization; it can also reduce the consumption of link resources and ensure smooth communication.

[0186] It should be understood that the network elements (NEs) mentioned in this application, such as the first NE and the second NE, can be simply understood as elements in a network, and are the smallest units that can be monitored and managed in network management. A NE can be composed of one or more disks or chassis, and can independently perform certain transmission functions.

[0187] Please refer to Figure 2, which is a schematic diagram of the architecture of a collaborative vehicle control system provided in an embodiment of the present application.

[0188] As shown in Figure 2, this collaborative vehicle control system shows the connection relationship between the on-board gateway and the intelligent driving system as well as the surrounding body control / power / chassis components, cameras / radars and other sensors.

[0189] Among them, the on-board gateway includes a body control module and an intelligent driving collaborative system. Sensors such as cameras and radars are connected to the intelligent driving collaborative system in the on-board gateway. Body components such as wipers, lights, and windows are connected to the body control module in the on-board gateway. The intelligent driving collaborative system in the on-board gateway is also connected to the domain controller of the intelligent driving system.

[0190] Based on the aforementioned connections between the collaborative vehicle control systems, the intelligent driving system can offload some processing logic to the vehicle gateway, where it will be executed by the intelligent driving collaborative system. Specifically, the intelligent driving system can determine which processing logic to offload to the vehicle gateway based on the computing power of the vehicle gateway.

[0191] For example, processing logic that does not require high computing power, such as fast Fourier transform (FFT) feature processing and support vector machine (SVM) classification processing of millimeter wave radar signals, can be offloaded to the vehicle gateway side and executed by the intelligent driving collaborative system in the vehicle gateway.

[0192] For example, processing logic that requires high computing power, such as using deep learning to perform convolution calculations on images and then classify them, can be offloaded to the vehicle gateway side for execution after the computing power of the vehicle gateway is further improved.

[0193] When the vehicle gateway receives processing logic that needs to be executed on it, the intelligent driving cooperative system in the vehicle gateway executes the processing logic and obtains the processing results. Specifically, how to handle the results of executing the processing logic can be determined by the intelligent driving system based on the in-vehicle network conditions.

[0194] For example, the vehicle gateway controls vehicle body related components according to the processing results. For example, the vehicle gateway controls vehicle body equipment such as wipers, lights, and windows according to the processing results.

[0195] Exemplarily, the vehicle gateway sends the processing results to the intelligent driving system, and the intelligent driving system performs the next vehicle control operation based on the processing results. For example, the intelligent driving system controls domain controllers such as the power domain or chassis domain based on the processing results obtained on the vehicle gateway side. Alternatively, the intelligent driving system performs collaborative calculations based on the processing results obtained on the vehicle gateway side and other data to be processed or other processing results, and then controls domain controllers such as the power domain or chassis domain based on the results obtained from the collaborative calculations.

[0196] Please refer to FIG3 , which is a schematic diagram of the architecture of another collaborative vehicle control system provided in an embodiment of the present application.

[0197] As shown in Figure 3, this collaborative vehicle control system shows the internal structure of the vehicle gateway, as well as the connection relationship between the vehicle gateway and the intelligent driving system, sensors such as cameras / radars, and surrounding vehicle body components such as orchestrators / diagnostics.

[0198] Among them, the orchestrator and diagnostic instrument are external devices, connected to the vehicle gateway through communication methods such as CAN port or Ethernet port. The intelligent driving system is deployed on the domain controller in the vehicle and connected to the vehicle gateway through communication methods such as CAN port or Ethernet port. Sensors such as radar and cameras are deployed on the vehicle body and connected to the vehicle gateway through communication methods such as CAN port or Ethernet port.

[0199] The vehicle gateway mainly includes a communication routing module and an intelligent driving collaborative system. The intelligent driving collaborative system mainly includes an upgrade management module, a scheduling management module, and a data storage module for storing information related to the advanced driver assistance system (ADAS).

[0200] The communication routing module is used to obtain and store the communication routing table. When the on-board gateway is required to perform intelligent driving collaborative vehicle control, the unprocessed data collected by the sensor needs to be uploaded to the on-board gateway. The on-board gateway processes the unprocessed data and then transmits the processing results to the intelligent driving system. Therefore, the communication route needs to be changed, and the transmission path of "unprocessed data is transmitted from the sensor to the intelligent driving system" is changed to "unprocessed data is transmitted from the sensor to the on-board gateway, and then from the on-board gateway to the intelligent driving system."

[0201] Optionally, after the on-board gateway receives the data to be processed collected by the sensor and processes the data to be processed to obtain the processing results, the on-board gateway can also control the relevant parts of the vehicle body according to the processing results without transmitting the processing results to the intelligent driving system. Therefore, it is necessary to change the communication route and change the transmission path of "transmitting data to be processed from the sensor to the intelligent driving system" to "transmitting data to be processed from the sensor to the on-board gateway".

[0202] The intelligent driving collaborative system is primarily used to collaboratively process acquired data to be processed when the onboard gateway is required for intelligent driving collaborative vehicle control. During this collaborative processing, ADAS-related information must be obtained from the data storage module that stores ADAS-related information. This ADAS-related information includes, but is not limited to, the processing logic information required to process the data to be processed, the parameter information required to process the data to be processed, and the configuration information required to process the data to be processed.

[0203] For example, the processing logic information required to process the data to be processed may be the K-means clustering algorithm of machine learning, which requires obtaining relevant logic code for training or reasoning, and also requires a corresponding hyperparameter description model; the parameter information required to process the data to be processed may be the k value (number of center points), center point coordinates, etc., and the logic code may be a single function or a collection of several functions; in addition, the configuration information required to process the data to be processed is also required for collaborative processing, such as the correspondence between the sensor that collects the data to be processed and the processing logic.

[0204] It should be understood that the above-mentioned ADAS-related information can be stored in the intelligent driving cooperative system in various forms. For example, it can be in the form of a so file and loaded into the system when the intelligent driving cooperative system is initialized, or it can be loaded into the system when the intelligent driving cooperative system is OTA upgraded for subsequent scheduling management. The embodiments of this application do not limit this.

[0205] The collaborative processing of the acquired data to be processed can be performed by the scheduling management module within the intelligent driving collaborative system. The scheduling management module determines which sensor the data to be processed originates from, then determines the processing logic corresponding to that sensor based on the configuration information in the ADAS-related information. It then retrieves the processing logic corresponding to that sensor from the ADAS-related information for processing, and calculates the parameters in the ADAS-related information during the processing process.

[0206] The upgrade management module in the intelligent driving collaborative system is used to update the system's communication routing information and ADAS-related information. Once the processing logic and related information to be offloaded to the vehicle gateway, along with the new communication routing information, are prepared, the diagnostic instrument or intelligent driving system initiates an upgrade request. The upgrade management module refreshes the communication routing information, ADAS-related information, and other related areas to complete the collaborative processing logic upgrade.

[0207] It should be understood that the upgrade processing performed by the above-mentioned upgrade management module and the scheduling processing performed by the above-mentioned scheduling management module can be a single-threaded processing relationship with a sequence, or a multi-threaded parallel processing relationship with no sequence, and the embodiments of the present application do not limit this.

[0208] It should be understood that the internal modules of the collaborative vehicle control system shown in Figures 2 and 3 are divided based on logical functions. In actual applications, the functions of one module can also be implemented by multiple modules, or the functions of multiple modules can be implemented by one module. The collaborative vehicle control system shown in the embodiment of this application is only one possible architectural implementation method and should not be used to limit this application.

[0209] Accordingly, the present application proposes a new collaborative vehicle control method based on the architecture of the above-mentioned collaborative vehicle control system. The collaborative vehicle control method provided by the present application will be described in detail below with reference to Figures 4 to 8.

[0210] Please refer to Figure 4, which is a flow chart of a collaborative vehicle control method provided by an embodiment of the present application. The collaborative vehicle control method is applied in the field of intelligent driving technology, and includes but is not limited to the following steps:

[0211] S401: Acquire first data to be processed.

[0212] The first network element obtains first data to be processed.

[0213] Among them, the first network element in the embodiment of the present application is a network element / device equipped with a processor that can be used to execute computer execution instructions, which can be a terminal device (such as a vehicle-mounted terminal), etc., specifically it can be the vehicle-mounted gateway in the collaborative vehicle control system shown in Figures 2 and 3 above, or other components with the functions of the vehicle-mounted gateway, or a network element / device integrated with the intelligent driving collaborative system shown in Figures 2 and 3 above, which is used to execute the collaborative vehicle control method in the embodiment of the present application, unload part of the processing logic from the second network element to the first network element, and use the first network element to cooperate with the second network element to complete the logical processing, so as to solve the technical problem that the second network element cannot perform the first processing due to insufficient computing power resources, etc., so that the existing vehicles equipped with the second network element can also support the new functional features provided by the chip update of the second network element.

[0214] In the embodiment of the present application, the first data to be processed is obtained by the perception network element directly sending the collected first data to be processed to the first network element, or the perception network element sends the collected first data to be processed to the second network element. When the second network element determines that the first data to be processed belongs to the processing logic part unloaded to the first network element, the second network element sends the first data to be processed to the first network element. This application does not constitute a limitation to this.

[0215] Among them, the second network element in the embodiment of the present application is a network element / device equipped with a processor that can be used to execute computer execution instructions. It can be a terminal device (such as a vehicle-mounted terminal), etc., specifically it can be the intelligent driving system in the collaborative vehicle control system shown in Figures 2 and 3 above, or a network element / device that integrates the intelligent driving collaborative system shown in Figures 2 and 3 above, such as an intelligent driving domain controller, or it can be an intelligent cockpit domain controller, a vehicle domain controller, etc., which is used to execute the collaborative vehicle control method in the embodiment of the present application, unload part of the processing logic from the second network element to the first network element, and use the first network element to cooperate with the second network element to complete the logical processing, so as to solve the technical problem that the second network element cannot perform the first processing due to insufficient computing power resources, etc., so that the existing vehicles equipped with the second network element can also support the new functional features provided by the chip update of the second network element.

[0216] The perception network element in the embodiment of the present application is a network element / device equipped with a processor that can be used to execute computer instructions, and can be a vehicle-mounted device such as a radar or a camera for collecting perception data.

[0217] S402: Perform first processing on first data to be processed to obtain a first processing result.

[0218] The first network element performs a first process on the first data to be processed to obtain a first processing result, wherein the first processing result is used for vehicle control.

[0219] In a possible embodiment, the first network element performs first processing on the first data to be processed according to the second information to obtain a first processing result.

[0220] The second information includes the corresponding relationship between the first data to be processed and the first processing.

[0221] Exemplarily, when the first data to be processed is image or video data from a camera, the first processing corresponding to the first data to be processed may be a logical processing of an image or video algorithm; when the first data to be processed is temperature data from a temperature sensor, the first processing corresponding to the first data to be processed may be a logical processing of a temperature algorithm.

[0222] Through the embodiments of the present application, according to the correspondence between the first data to be processed and the first processing, correct logical processing can be performed on the first data to be processed, and the second network element can be coordinated to complete the logical processing, thereby solving the technical problem that the second network element cannot perform the first processing due to insufficient computing resources and other reasons, so that the existing vehicles equipped with the second network element can also support the new functional features provided by the chip update of the second network element.

[0223] Optionally, the second information also includes relevant information about the first processing.

[0224] The relevant information includes but is not limited to at least one of the following: processing logic information required for executing the first processing, parameter information required for executing the first processing, and configuration information for executing the first processing.

[0225] Through the embodiments of the present application, the processing logic information required to perform the first processing on the first data to be processed can be determined based on the configuration information, and then the corresponding processing logic information can be called to perform the first processing. When performing the first processing, the corresponding calculations will be performed in conjunction with the parameter information required for the first processing, and the logic processing will be completed in conjunction with the second network element. This solves the technical problem of the second network element being unable to perform the first processing due to insufficient computing power resources, etc., and enables existing vehicles equipped with the second network element to support the new functional features provided by the chip upgrade of the second network element.

[0226] Optionally, the second information can be obtained by any of the following methods:

[0227] Method 1: The first network element periodically updates the second information through an over-the-air (OTA) upgrade.

[0228] Method 2: The first network element pre-configures the second information;

[0229] Method three: the first network element receives the second information sent by the second network element.

[0230] In a possible embodiment, before performing the first processing on the first data to be processed, a method for determining whether to perform the first processing on the first data to be processed is further provided.

[0231] Specifically, according to the first information, it is determined to perform the first processing on the first data to be processed, wherein the first information is used to instruct to perform the first processing.

[0232] Through the embodiments of the present application, the first network element can determine which of the acquired data to be processed should be processed based on the first information, and thus can determine to perform the first processing on the first data to be processed based on the first information, and cooperate with the second network element to complete the logical processing. This can solve the technical problem that the second network element is unable to perform the first processing due to insufficient computing power resources, etc., and enable the existing vehicles equipped with the second network element to support the new functional features provided by the chip update of the second network element.

[0233] Optionally, the first information is also used to indicate that the first network element is allowed to perform the first processing.

[0234] In the above case, after obtaining the first data to be processed, the first network element may send a request to the second network element to request that the first processing be performed on the first data to be processed. Correspondingly, after receiving the request, the second network element sends first information to the first network element to indicate that the first network element is allowed to perform the first processing.

[0235] Through the embodiment of the present application, the second network element offloads part of the processing logic to the first network element, and uses the surplus computing resources of the first network element to process the part of the processing logic, but still retains the control right of whether to allow the execution of the part of the processing logic, and uses the first network element to cooperate with the second network element to complete the logic processing, thereby realizing the corresponding vehicle control.

[0236] Optionally, the first information is also used to indicate a third network element that sends the first data to be processed.

[0237] The third network element is a perception network element that collects and sends the first data to be processed. For example, it can be a vehicle-mounted device such as a radar or camera for collecting perception data. The first information may include information about the third network element that sent the first data to be processed, such as the identifier and address of the third network element. The first information may also include path information for the transmission of the first data to be processed from the third network element to the first network element, so that the third network element can be determined based on this path information.

[0238] It is understandable that the information used to indicate the third network element that sends the first data to be processed is not necessarily the first information, but can also be other information, such as the third information, the fourth information, etc., and the embodiment of the present application does not limit this.

[0239] Through the embodiments of the present application, it is possible to determine which sensor network element or type of sensor network element the first data to be processed originates from based on the first information, thereby determining to perform different processing on the data to be processed from different sensor network elements. For example, the first data to be processed from the radar can be processed in the first process, while the second data to be processed from the camera can be processed in the second process, and so on. The second network element can then be coordinated to complete the logical processing and implement the corresponding vehicle control.

[0240] Optionally, the first information is also used to indicate the second network element.

[0241] The first information may include information about the second network element, such as an identifier of the second network element, an address of the second network element, etc. The first information may also include path information for transmitting the first processing result from the first network element to the second network element, so that the second network element can be determined based on the path information, and then the first information can be used to determine to which second network element the first processing result is to be sent.

[0242] It is understandable that the information used to indicate the second network element is not necessarily the first information, but can also be other information, such as the third information, the fourth information, etc., and the embodiments of the present application do not limit this.

[0243] It can also be understood that the information used to indicate the second network element and the information used to indicate the third network element sending the first data to be processed can be the same information or two different information respectively indicated, and the embodiment of the present application does not limit this.

[0244] Through the embodiments of the present application, different processing results obtained by processing different data to be processed can be determined based on the first information, and the control network element or type of control network element to which they should be sent to perform corresponding different vehicle controls. For example, a first processing result obtained by performing a first processing on the first data to be processed can be sent to a second network element based on the first information, and the second network element can cooperate with the second network element to complete logical processing, so that the second network element can perform corresponding vehicle control.

[0245] Optionally, the first information may be obtained by any of the following methods:

[0246] Method 1: The first network element periodically updates the first information through an over-the-air (OTA) update.

[0247] Method 2: The first network element pre-configures the first information;

[0248] Method three: The first network element receives first information sent by a network element having a communication orchestration function.

[0249] In a possible embodiment, the first network element further sends first capability information.

[0250] The first capability information is used to indicate that the first network element has the capability to execute the first process.

[0251] The first capability information sent through the embodiment of the present application can enable the second network element to know that the first network element has the ability to perform the first processing, thereby offloading the processing logic of the first processing to the first network element, and using the first network element to cooperate with the second network element to complete the logical processing, thereby solving the technical problem that the second network element cannot perform the first processing due to insufficient computing power resources and other reasons, so that the existing vehicles equipped with the second network element can also support the new functional features provided by the chip update of the second network element.

[0252] Optionally, the first capability information includes information about the computing power required to perform the first processing.

[0253] Through the first capability information in the embodiment of the present application, the second network element can confirm that the first network element has the ability to perform the first processing, thereby offloading the processing logic of the first processing to the first network element, and using the first network element to cooperate with the second network element to complete the logical processing.

[0254] Optionally, the first capability information may be sent in any of the following ways:

[0255] In a first approach, the first network element may send the first capability information via a broadcast message, and correspondingly, the second network element obtains the first capability information by receiving the broadcast message.

[0256] In the second approach, the first network element may send the first capability information to the second network element in a point-to-point manner. Correspondingly, the second network element may receive the first capability information sent by the first network element in a point-to-point manner.

[0257] In a third approach, the first network element may also send the first capability information point-to-point to an over-the-air (OTA) server, and the second network element may obtain the first capability information through an over-the-air (OTA) technology.

[0258] Optionally, the first network element may also obtain the first information and / or second information through an over-the-air upgrade OTA technology.

[0259] Specifically, the OTA server records the above-mentioned first information and second information into an upgrade package, and the first network element then obtains the upgrade package from the OTA server through OTA technology, updates and upgrades the first information and the second information, so as to determine the corresponding first processing of the first to-be-processed data based on the updated first information and second information, and cooperate with the second network element to complete the logical processing.

[0260] In a possible embodiment, the first processing in the embodiment of the present application needs to be performed when the following conditions are met: the first network element has the computing power to perform the first processing, and the second network element does not have the computing power to perform the first processing.

[0261] For example, the processing logic that does not require high computing power, such as FFT feature processing and SVM classification processing of millimeter wave radar signals, can be offloaded to the first network element, which performs the corresponding processing and cooperates with the second network element to complete the logical processing.

[0262] For example, processing logic that requires high computing power, such as using deep learning to perform convolution calculations on images and then classify them, can be offloaded to the first network element side for execution after the computing power of the first network element is further improved.

[0263] In an embodiment of the present application, the second network element does not have the computing power or ability to perform the first processing and is unable to support the functional characteristics corresponding to the first processing, while the first network element has the computing power or ability to perform the first processing. The second network element unloads the processing logic corresponding to the first processing to the first network element, that is, the first network element performs the first processing on the first data to be processed. The first network element cooperates with the second network element to complete the logical processing, which can solve the technical problem that the second network element is unable to perform the first processing due to insufficient computing power resources and other reasons, so that the existing vehicles equipped with the second network element can also support the functional characteristics corresponding to the first processing. In addition, it can also reduce the waste of resources caused by the surplus computing power resources of the first network element and improve the computing power resource utilization rate of the first network element.

[0264] It is understandable that the specific type of processing logic to be offloaded from the second network element to the first network element can be determined based on the computing power of the first network element and the second network element. In the embodiment of the present application, the first network element includes a network element capable of executing the first processing, and the second network element includes a network element that does not have the ability to execute the first processing, or is a network element that does not execute the first processing.

[0265] Exemplarily, the first network element is a network element including a microprocessing unit MPU and a microcontroller unit MCU, that is, the computing power resources of the first network element are abundant and have the computing power to execute the first processing; the first network element may also be a network element including a microcontroller unit MCU. At this time, the computing power resources of the microcontroller unit MCU included in the first network element are relatively abundant and sufficient to execute the first processing. The embodiments of the present application do not limit this.

[0266] S403: The first network element sends the first processing result to the second network element. Correspondingly, the second network element receives the first processing result sent by the first network element.

[0267] Among them, the first processing result is used for the second network element to control the vehicle, and the second network element includes a network element that does not have the ability to execute the first processing, or a network element that does not execute the first processing. Among them, the network element that does not have the ability to execute the first processing can be understood as a possible situation of the network element that does not execute the first processing.

[0268] This embodiment offloads part of the processing logic from the second network element to the first network element, and uses the first network element to cooperate with the second network element to complete the logical processing, which can solve the technical problem that the second network element cannot perform the first processing due to insufficient computing resources, etc., so that the existing vehicles equipped with the second network element can also support the new functional characteristics provided by the chip update of the second network element; and it can also reduce the large amount of resource waste caused by the surplus computing resources of the first network element and improve the utilization rate of computing resources; compared with forwarding the original data (first data to be processed) collected by the perception network element to the second network element, sending the first processing result obtained by the first processing of the first data to be processed to the second network element can also reduce the consumption of link resources and ensure smooth communication.

[0269] S404: Control the vehicle according to the first processing result.

[0270] The second network element may control the vehicle based on the received first processing result, or the second network element may perform collaborative calculation based on the received first processing result and other data to be processed or other processing results, and then control the vehicle based on the result obtained from the collaborative calculation.

[0271] Optionally, the second network element may also forward the received first processing result to other network elements, so that the other network elements can control the vehicle, thereby realizing the vehicle control function.

[0272] S405: Control the vehicle according to the first processing result.

[0273] The first network element controls the vehicle according to the first processing result.

[0274] It can be understood that steps S405 and S404 are two optional steps, and how to process the results obtained by executing the processing logic can be determined according to the situation of the in-vehicle network.

[0275] Exemplarily, when executing the above step S404, the second network element may control a domain controller such as a power domain or a chassis domain according to the first processing result.

[0276] For example, when executing the above step S405, the first network element may control vehicle body equipment such as wipers, lights, and windows according to the first processing result.

[0277] The existing vehicles currently equipped with the second network element cannot support the new functional features provided by the chip update of the second network element. Compared with the current vehicle control method, the embodiment of the present application unloads part of the processing logic from the second network element to the first network element, that is, the first network element performs the first processing on the first data to be processed, and uses the first network element to cooperate with the second network element to complete the logical processing, so that the existing vehicles equipped with the second network element can also support the new functional features provided by the chip update of the second network element, and can also solve the technical defects of the second network element being unable to perform the corresponding logical processing due to insufficient computing power resources; and, it can also reduce the resource waste caused by the surplus computing power resources of the first network element and improve the computing power resource utilization of the first network element; compared with directly forwarding the original data (first data to be processed) collected by the perception network element to the second network element, sending the first processing result obtained by the first processing of the first data to be processed to the second network element can also reduce the consumption of link resources and ensure smooth communication.

[0278] Please refer to Figure 5, which is a flowchart of another collaborative vehicle control method provided in an embodiment of the present application. Alternatively, it can also be understood as a variation or supplement to the collaborative vehicle control method flowchart in Figure 4 above. Specifically, it can be understood as a supplementary explanation of the contents of steps S401, S402, S403, and S405 executed by the first network element in Figure 4 above. The collaborative vehicle control method in the embodiment of the present application is applied to the field of intelligent driving technology, and the collaborative vehicle control method includes but is not limited to the following steps:

[0279] S501: Acquire first data to be processed.

[0280] The first network element obtains first data to be processed.

[0281] Among them, the first network element in the embodiment of the present application is a network element / device equipped with a processor that can be used to execute computer execution instructions, which can be a terminal device (such as a vehicle-mounted terminal), etc., specifically it can be the vehicle-mounted gateway in the collaborative vehicle control system shown in Figures 2 and 3 above, or a network element / device integrated with the intelligent driving collaborative system shown in Figures 2 and 3 above, which is used to execute the collaborative vehicle control method in the embodiment of the present application, unload part of the processing logic from the second network element to the first network element, and use the first network element to cooperate with the second network element to complete the logical processing, so as to solve the technical problem that the second network element cannot perform the first processing due to insufficient computing power resources, etc., so that the existing vehicles equipped with the second network element can also support the new functional features provided by the chip update of the second network element.

[0282] In the embodiment of the present application, the first data to be processed is obtained by the perception network element directly sending the collected first data to be processed to the first network element, or the perception network element sends the collected first data to be processed to the second network element. When the second network element determines that the first data to be processed belongs to the processing logic part unloaded to the first network element, the second network element sends the first data to be processed to the first network element. This application does not constitute a limitation to this.

[0283] Among them, the second network element in the embodiment of the present application is a network element / device equipped with a processor that can be used to execute computer execution instructions. It can be a terminal device (such as a vehicle-mounted terminal), etc., specifically it can be the intelligent driving system in the collaborative vehicle control system shown in Figures 2 and 3 above, or a network element / device that integrates the intelligent driving collaborative system shown in Figures 2 and 3 above, such as an intelligent driving domain controller, or it can be an intelligent cockpit domain controller, a vehicle domain controller, etc., which is used to execute the collaborative vehicle control method in the embodiment of the present application, unload part of the processing logic from the second network element to the first network element, and use the first network element to cooperate with the second network element to complete the logical processing, so as to solve the technical problem that the second network element cannot perform the first processing due to insufficient computing power resources, etc., so that the existing vehicles equipped with the second network element can also support the new functional features provided by the chip update of the second network element.

[0284] The perception network element in the embodiment of the present application is a network element / device equipped with a processor that can be used to execute computer instructions, and can be a vehicle-mounted device such as a radar or a camera for collecting perception data.

[0285] S502: Determine, based on the first information, to perform first processing on the first data to be processed.

[0286] The first network element determines to perform first processing on the first to-be-processed data according to the first information.

[0287] Among them, the first information is used to indicate the third network element that sends the first data to be processed. The third network element is a perception network element that collects and sends the first data to be processed. For example, it can be a vehicle-mounted device such as a radar or a camera for collecting perception data.

[0288] Specifically, the first information may include information about the third network element that sends the first data to be processed, such as the identifier of the third network element, the address of the third network element, and other information; the first information may also include path information of the first data to be processed from the third network element to the first network element, so that the third network element can be determined based on the path information.

[0289] Optionally, after obtaining the first data to be processed, the first network element may further send a request to the second network element to request that the first processing be performed on the first data to be processed. Accordingly, after receiving the request, the second network element sends the first information to the first network element. In this case, the first information is also used to indicate that the first network element is allowed to perform the first processing.

[0290] S503: Perform a first process on the first data to be processed according to the second information to obtain a first processing result.

[0291] The first network element performs a first process on the first data to be processed according to the second information to obtain a first processing result.

[0292] The second information includes the corresponding relationship between the first data to be processed and the first processing.

[0293] For example, when the first data to be processed is image or video data from a camera, the first processing corresponding to the first data to be processed can be a logical processing of the image or video algorithm type; when the first data to be processed is temperature data from a temperature sensor, the first processing corresponding to the first data to be processed can be a logical processing of the temperature algorithm type.

[0294] Specifically, the second information also includes relevant information about the first processing, wherein the relevant information includes but is not limited to at least one of the following: processing logic information required to execute the first processing, parameter information required to execute the first processing, and configuration information for executing the first processing.

[0295] The first network element can determine the processing logic information required to perform the first processing on the first data to be processed based on the configuration information, and then call the corresponding processing logic information to perform the first processing. In addition, when performing the first processing, it will coordinate the parameter information required for the first processing to perform corresponding calculations to obtain the first processing result, which is used to coordinate with the second network element to complete the logical processing.

[0296] S504: Determine, based on the first information, to send the first processing result to the second network element.

[0297] The first network element determines to send the first processing result to the second network element based on the first information. Correspondingly, the second network element receives the first processing result sent by the first network element, and the first processing result is used by the second network element to control the vehicle.

[0298] The first information is used to indicate the second network element.

[0299] Specifically, the first information may include information of the second network element, such as the identifier of the second network element, the address of the second network element, and other information; the first information may also include path information of the first processing result transmitted from the first network element to the second network element, so that the second network element can be determined based on the path information, and then the first processing result can be sent to the second network element based on the first information.

[0300] S505: Control the vehicle according to the first processing result.

[0301] When the first information does not indicate the second network element, it means that the first network element does not need to send the first processing result to the second network element, and the first network element controls the vehicle according to the first processing result.

[0302] It can be understood that steps S505 and S504 are two optional steps. How to specifically handle the results obtained by executing the processing logic can be determined according to the situation of the in-vehicle network, and this application does not impose any restrictions on this.

[0303] Exemplarily, when executing the above step S504, the second network element may control a domain controller such as a power domain or a chassis domain according to the first processing result.

[0304] For example, when executing the above step S505, the first network element may control vehicle body equipment such as wipers, lights, and windows according to the first processing result.

[0305] The embodiment of the present application unloads part of the processing logic from the second network element to the first network element, that is, the first network element performs the first processing on the first data to be processed, and uses the first network element to cooperate with the second network element to complete the logical processing, so that the existing vehicles equipped with the second network element can also support the new functional characteristics provided by the chip update of the second network element, and can also solve the technical defects of the second network element being unable to perform corresponding logical processing due to insufficient computing power resources. In addition, it can also reduce the waste of resources caused by the surplus computing power resources of the first network element and improve the computing power resource utilization rate of the first network element. Compared with directly forwarding the original data (first data to be processed) collected by the perception network element to the second network element, sending the first processing result obtained by the first processing of the first data to be processed to the second network element can also reduce the consumption of link resources and ensure smooth communication.

[0306] For example, the first information is further described by taking the execution process of steps S501, S502, S503, and S504 in Figure 5 as an example. Specific reference may be made to Figure 6, which is a schematic diagram of a communication route provided in an embodiment of the present application.

[0307] As shown in Figure 6, the first network element can be an on-board gateway, the second network element can be an intelligent driving system, and the third network element can be a lidar. A device with communication orchestration capabilities, such as an orchestrator, is used to orchestrate communication routes for the above network elements so that data can be transmitted between the above network elements.

[0308] Specifically, the first information is used to indicate the third network element (lidar) that sends the first data to be processed. The first information may include information about the lidar that sends the first data to be processed, such as the lidar identifier, the lidar address (IP address is 192.168.55.11), and other information. The first information is used to indicate the second network element (intelligent driving system). The first information may include information about the intelligent driving system, such as the identifier of the intelligent driving system, the address of the intelligent driving system (IP address is 192.168.55.31), and other information. The first information is used to indicate the first network element (vehicle gateway). The first information may include information about the vehicle gateway, such as the identifier of the vehicle gateway, the address of the vehicle gateway (the IP address of network port 1 is 192.168.55.21, and the IP address of network port 2 is 192.168.55.22), and other information.

[0309] According to the communication route indicated by the first information above, the first network element can obtain the first data to be processed from the laser radar with an IP address of 192.168.55.11, perform the first processing on the first data to be processed, obtain the first processing result, and send the first processing result to the intelligent driving system with an IP address of 192.168.55.31. Correspondingly, the data transmission path is: the first data to be processed is transmitted from the laser radar (IP address is 192.168.55.11) to the vehicle gateway (IP address of network port 1 is 192.168.55.21), and the first processing result is transmitted from the vehicle gateway (IP address of network port 2 is 192.168.55.22) to the intelligent driving system (IP address is 192.168.55.31).

[0310] Through the embodiments of the present application, the first network element can determine which of the acquired data to be processed should be processed based on the first information, and thus can determine to perform the first processing on the first data to be processed based on the first information, and cooperate with the second network element to complete the logical processing. This can solve the technical problem that the second network element is unable to perform the first processing due to insufficient computing power resources, etc., and enable the existing vehicles equipped with the second network element to support the new functional features provided by the chip update of the second network element.

[0311] In addition, taking the execution process of obtaining the first information and the second information in Figures 4 and 5 as an example, the acquisition of the first information and the second information through the over-the-air upgrade OTA technology is further described. For details, please refer to Figure 7, which is a schematic diagram of an over-the-air upgrade OTA provided in an embodiment of the present application.

[0312] As shown in FIG7 , the OTA server combines the first information and the second information into an upgrade package.

[0313] The first information includes information for indicating the communication route between the laser radar, the vehicle gateway, and the intelligent driving system. Exemplarily, the communication route includes the following information:

[0314] Starting address 1 is the lidar with IP address 192.168.55.11;

[0315] Target address 1 is the vehicle gateway network port 1 with IP address 192.168.55.21;

[0316] The starting address 2 is the vehicle gateway network port 2 with the IP address 192.168.55.22;

[0317] Target address 2 is the intelligent driving system with IP address 192.168.55.31.

[0318] From the above communication route, it can be seen that the data to be processed is transmitted from the starting address 1 to the target address 1, and the processing result is transmitted from the starting address 2 to the target address 2.

[0319] The second information includes ADAS related information, which includes but is not limited to at least one of the following: processing logic information required to perform the first process, parameter information required to perform the first process, and configuration information for performing the first process. Exemplarily, the ADAS related information includes the following information:

[0320] The logic processing function func1 of lidar target detection;

[0321] Parameter param1 corresponding to the logical processing function func1;

[0322] The IP address 192.168.55.11 corresponds to the configuration information of the logic processing function func1.

[0323] From the above ADAS-related information, it can be seen that the data to be processed is judged to come from the laser radar with the IP address 192.168.55.11. Then, according to the configuration information in the ADAS-related information, the logic processing function func1 corresponding to the laser radar is determined, and the logic processing function func1 corresponding to the laser radar is called from the ADAS-related information to process the data to be processed. During the processing process, the parameter param1 corresponding to the logic processing function func1 in the ADAS-related information will be calculated in conjunction with the ADAS-related information to obtain the processing result.

[0324] When the diagnostic instrument or intelligent driving system initiates an upgrade request, the first network element obtains the upgrade package from the OTA server through OTA technology, updates and upgrades the first information and the second information, determines the corresponding first processing of the first to-be-processed data based on the updated first information and the second information, and cooperates with the second network element to complete the logical processing.

[0325] It should be understood that the upgrade processing performed on the first information and the second information through the over-the-air upgrade OTA technology and the first processing performed on the first data to be processed can be a single-threaded processing relationship with a sequence, or a multi-threaded parallel processing relationship with no sequence. The embodiments of the present application do not limit this.

[0326] Please refer to Figure 8, which is a flowchart of another collaborative vehicle control method provided in an embodiment of the present application. Alternatively, it can also be understood as a variation or supplement to the collaborative vehicle control method flowchart in Figure 4 above. Specifically, it can be understood as a supplementary explanation of the contents of steps S403 and S404 executed by the second network element in Figure 4 above. The collaborative vehicle control method in the embodiment of the present application is applied to the field of intelligent driving technology, and the collaborative vehicle control method includes but is not limited to the following steps:

[0327] S801: Obtain a first processing result.

[0328] The second network element obtains the first processing result, which may be specifically that the first network element sends the first processing result to the second network element, and correspondingly, the second network element receives the first processing result sent by the first network element.

[0329] Among them, the first processing result includes the result obtained by the first network element performing the first processing on the first data to be processed, and the first processing result is used by the second network element to control the vehicle. The second network element includes a network element that does not have the ability to perform the first processing, or a network element that does not perform the first processing.

[0330] Among them, the first network element in the embodiment of the present application is a network element / device equipped with a processor that can be used to execute computer execution instructions, which can be a terminal device (such as a vehicle-mounted terminal), etc., specifically it can be the vehicle-mounted gateway in the collaborative vehicle control system shown in Figures 2 and 3 above, or a network element / device integrated with the intelligent driving collaborative system shown in Figures 2 and 3 above, which is used to execute the collaborative vehicle control method in the embodiment of the present application, unload part of the processing logic from the second network element to the first network element, and use the first network element to cooperate with the second network element to complete the logical processing, so as to solve the technical problem that the second network element cannot perform the first processing due to insufficient computing power resources, etc., so that the existing vehicles equipped with the second network element can also support the new functional features provided by the chip update of the second network element.

[0331] The second network element in the embodiment of the present application is a network element / device equipped with a processor that can be used to execute computer instructions. It can be a terminal device (such as a vehicle-mounted terminal), etc. Specifically, it can be the intelligent driving system in the collaborative vehicle control system shown in Figures 2 and 3 above, or a network element / device that integrates the intelligent driving collaborative system shown in Figures 2 and 3 above, such as an intelligent driving domain controller. It can also be an intelligent cockpit domain controller, a vehicle domain controller, etc., which is used to execute the collaborative vehicle control method in the embodiment of the present application, unload part of the processing logic from the second network element to the first network element, and use the first network element to cooperate with the second network element to complete the logical processing, so as to solve the technical problem that the second network element cannot perform the first processing due to insufficient computing power resources, etc., so that the existing vehicles equipped with the second network element can also support the new functional features provided by the chip update of the second network element.

[0332] S802: Control the vehicle according to the first processing result.

[0333] The second network element controls the vehicle according to the first processing result.

[0334] Exemplarily, the second network element controls a domain controller such as a power domain or a chassis domain according to the first processing result, or controls vehicle body equipment such as wipers, lights, and windows according to the first processing result.

[0335] Optionally, the second network element may also forward the received first processing result to other network elements, so that the other network elements can control the vehicle, thereby realizing the vehicle control function.

[0336] S803: Obtain a second processing result or second data to be processed.

[0337] The second data to be processed may come from the same perception network element as the first data to be processed, or may come from different perception network elements. The second processing result may be the processing result obtained by other network elements performing second processing on the second data to be processed, or may be the processing result obtained by the second network element performing second processing on the second data to be processed. The embodiments of the present application do not impose any restrictions on this.

[0338] S804: Perform fusion processing on the first processing result and the second processing result or the second data to be processed to obtain a fusion result.

[0339] S805: Control the vehicle based on the fusion result.

[0340] The second network element controls the vehicle based on the fusion result, and the fusion result is associated with the first processing result and the second processing result, and specifically can be the result obtained by fusing the first processing result and the second processing result, or the fusion result is associated with the first processing result and the second data to be processed, and specifically can be the result obtained by fusing the first processing result and the second data to be processed. The embodiments of the present application do not limit this.

[0341] Exemplarily, the second network element controls domain controllers such as the power domain or chassis domain according to the fusion result, or controls vehicle body equipment such as wipers, lights, and windows according to the fusion result.

[0342] Optionally, the second network element may also send the obtained fusion result to other network elements, which then control the vehicle, thereby realizing the vehicle control function.

[0343] The embodiment of the present application unloads part of the processing logic from the second network element to the first network element, that is, the first network element performs the first processing on the first data to be processed, and uses the first network element to cooperate with the second network element to complete the logical processing, so that the existing vehicles equipped with the second network element can also support the new functional characteristics provided by the chip update of the second network element, and can also solve the technical defects of the second network element being unable to perform corresponding logical processing due to insufficient computing power resources. In addition, it can also reduce the waste of resources caused by the surplus computing power resources of the first network element and improve the computing power resource utilization rate of the first network element. Compared with directly forwarding the original data (first data to be processed) collected by the perception network element to the second network element, sending the first processing result obtained by the first processing of the first data to be processed to the second network element can also reduce the consumption of link resources and ensure smooth communication.

[0344] The above describes in detail the methods of the embodiments of the present application. The following provides an apparatus for implementing any of the methods in the embodiments of the present application. For example, an apparatus is provided that includes units (or means) for implementing each step performed by the network element / device in any of the above methods.

[0345] Please refer to Figure 9, which is a structural diagram of a collaborative vehicle control device provided in an embodiment of the present application.

[0346] As shown in Figure 9, the cooperative vehicle control device 90 may include a transceiver unit 901 and a processing unit 902. The transceiver unit 901 and the processing unit 902 may be software, hardware, or a combination of software and hardware.

[0347] The transceiver unit 901 can implement a sending function and / or a receiving function, and can also be described as a communication unit. The transceiver unit 901 can also be a unit that integrates an acquisition unit and a sending unit, wherein the acquisition unit is used to implement the receiving function and the sending unit is used to implement the sending function. Optionally, the transceiver unit 901 can be used to receive information sent by other devices, and can also be used to send information to other devices.

[0348] In one possible design, the collaborative vehicle control device 90 may correspond to the first network element in the method embodiments shown in Figures 4 and 5 above. For example, the collaborative vehicle control device 90 may be the first network element or a chip in the first network element. The collaborative vehicle control device 90 may include a unit for executing the operations performed by the first network element in the method embodiments shown in Figures 4 and 5 above, and each unit in the collaborative vehicle control device 90 is respectively for implementing the operations performed by the first network element in the method embodiments shown in Figures 4 and 5 above. The description of each unit is as follows:

[0349] The processing unit 902 is configured to obtain first data to be processed;

[0350] The processing unit 902 is further configured to perform a first processing on the first data to be processed to obtain a first processing result;

[0351] The transceiver unit 901 is configured to send the first processing result to a second network element, where the first processing result is used by the second network element to control the vehicle, wherein the second network element is a network element that does not perform the first processing;

[0352] Alternatively, the processing unit 902 is further configured to control the vehicle according to the first processing result, and the collaborative vehicle control device includes a vehicle-mounted gateway.

[0353] In a possible implementation manner, the second network element further includes a network element that does not have the capability of executing the first processing.

[0354] In a possible implementation, the processing unit 902 is further configured to determine, before performing the first processing on the first data to be processed, based on first information, whether to perform the first processing on the first data to be processed; wherein the first information is used to instruct execution of the first processing.

[0355] In a possible implementation manner, the first information is further used to indicate that the collaborative vehicle control device is allowed to execute the first process.

[0356] In a possible implementation manner, the first information is further used to indicate a third network element that sends the first data to be processed;

[0357] The processing unit 902 is further configured to determine to perform the first processing on the first to-be-processed data from the third network element.

[0358] In a possible implementation manner, the first information is further used to indicate the second network element;

[0359] The processing unit 902 is further configured to determine, based on the first information, whether to send the first processing result to the second network element.

[0360] In a possible implementation, the processing unit 902 is specifically configured to perform the first processing on the first data to be processed according to second information; wherein the second information includes a correspondence between the first data to be processed and the first processing.

[0361] In a possible implementation, the second information further includes relevant information of the first process, and the relevant information of the first process includes at least one of the following:

[0362] Processing logic information required to execute the first process, parameter information required to execute the first process, and configuration information required to execute the first process.

[0363] In a possible implementation manner, the second information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or the second network element.

[0364] In a possible implementation manner, the first information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or a network element with a communication orchestration function.

[0365] In a possible implementation, the transceiver unit is further configured to send first capability information, where the first capability information indicates that the collaborative vehicle control device has the capability to execute the first processing.

[0366] In a possible implementation, the first capability information includes information about the computing power required to execute the first processing.

[0367] In a possible implementation manner, the first capability information is sent in at least one of the following ways: broadcast message, or point-to-point sending.

[0368] In a possible implementation, the first processing is performed when the following conditions are met: the collaborative vehicle control device has the computing power to execute the first processing, and the second network element does not have the computing power to execute the first processing.

[0369] In a possible implementation, the collaborative vehicle control device includes a microprocessing unit MPU and a microcontroller unit MCU.

[0370] In another possible design, the collaborative vehicle control device 90 may correspond to the second network element in the method embodiments shown in Figures 4 and 8 above. For example, the collaborative vehicle control device 90 may be the second network element or a chip in the second network element. The collaborative vehicle control device 90 may include a unit for executing the operations performed by the second network element in the method embodiments shown in Figures 4 and 8 above, and each unit in the collaborative vehicle control device 90 is respectively for implementing the operations performed by the second network element in the method embodiments shown in Figures 4 and 8 above. The description of each unit is as follows:

[0371] The transceiver unit 901 is configured to receive a first processing result sent by a first network element, where the first processing result includes a processing result obtained by the first network element performing a first processing on first data to be processed, and the collaborative vehicle control device includes a network element that does not perform the first processing;

[0372] The processing unit 902 is configured to control the vehicle according to the first processing result.

[0373] In a possible embodiment, the processing unit 902 is also used to control the vehicle based on the fusion result, wherein the fusion result is associated with the first processing result and the second processing result, or the fusion result is associated with the first processing result and the second data to be processed, and the second processing result includes the processing result obtained by the collaborative vehicle control device performing a second processing on the second data to be processed.

[0374] In a possible implementation, the collaborative vehicle control device further includes a network element that does not have the ability to execute the first processing.

[0375] In a possible implementation, performing the first processing on the first data to be processed is associated with first information, and the first information is used to instruct execution of the first processing.

[0376] In a possible implementation manner, the first information is further used to indicate that the first network element is allowed to perform the first processing.

[0377] In a possible implementation manner, the first information is further used to indicate a third network element that sends the first data to be processed; and performing the first processing on the first data to be processed from the third network element is associated with the first information.

[0378] In a possible implementation manner, the first information is further used to indicate the collaborative vehicle control device; and determining that the first processing result is sent to the collaborative vehicle control device is associated with the first information.

[0379] In a possible implementation, the first processing performed on the first data to be processed is associated with second information; wherein the second information includes a corresponding relationship between the first data to be processed and the first processing.

[0380] In a possible implementation, the second information further includes relevant information of the first process, and the relevant information of the first process includes at least one of the following:

[0381] Processing logic information required to execute the first process, parameter information required to execute the first process, and configuration information required to execute the first process.

[0382] In a possible implementation manner, the second information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or the collaborative vehicle control device.

[0383] In a possible implementation manner, the first information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or a network element with a communication orchestration function.

[0384] In a possible implementation, the transceiver unit 901 is further configured to receive first capability information, where the first capability information indicates that the first network element has the capability to execute the first process.

[0385] In a possible implementation, the first capability information includes information about the computing power required to execute the first processing.

[0386] In a possible implementation manner, the first capability information is received in at least one of the following ways: a broadcast message, or point-to-point reception.

[0387] In a possible implementation, the first processing is performed when the following conditions are met: the first network element has the computing power to perform the first processing, and the collaborative vehicle control device does not have the computing power to perform the first processing.

[0388] In a possible implementation, the first network element includes a micro-processing unit MPU and a micro-control unit MCU.

[0389] According to an embodiment of the present application, each unit in the device shown in Figure 9 can be separately or all merged into one or several other units to constitute, or one (some) unit therein can also be split into multiple smaller units in function to constitute, which can achieve the same operation without affecting the realization of the technical effects of the embodiments of the present application. The above-mentioned units are divided based on logical functions. In practical applications, the functions of a unit can also be implemented by multiple units, or the functions of multiple units can be implemented by one unit. In other embodiments of the present application, other units can also be included based on electronic equipment. In practical applications, these functions can also be implemented with the assistance of other units, and can be implemented by collaboration of multiple units.

[0390] It should be noted that the implementation of each unit may also refer to the corresponding description of the method embodiments shown in FIG. 4 , FIG. 5 , and FIG. 8 .

[0391] In the collaborative vehicle control device 90 described in Figure 9, part of the processing logic is unloaded from the second network element to the first network element, and the first network element is used to cooperate with the second network element to complete the logic processing. This can solve the technical problem that the second network element cannot perform the first processing due to insufficient computing resources, etc., so that the existing vehicles equipped with the second network element can also support the new functional features provided by the chip update of the second network element.

[0392] Please refer to Figure 10, which is a schematic diagram of the structure of an electronic device 100 provided in an embodiment of the present application. The electronic device 100 may include a memory 1001 and a processor 1002. Optionally, it may also include a communication interface 1003 and a bus 1004, wherein the memory 1001, processor 1002, and communication interface 1003 are connected to each other via bus 1004. The communication interface 1003 is used to exchange data with the collaborative vehicle control device 90.

[0393] Memory 1001 is used to provide storage space for storing data such as an operating system and computer programs. Memory 1001 includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM).

[0394] The processor 1002 is a module that performs arithmetic and logical operations, and can be one or a combination of multiple processing modules such as a central processing unit (CPU), a graphics processing unit (GPU), or a microprocessor unit (MPU).

[0395] In one possible design, the electronic device 100 may correspond to the first network element in the method embodiments shown in Figures 4 and 5 above, for example, the electronic device 100 may be the first network element or a chip in the first network element. The electronic device 100 may include components for executing the operations performed by the first network element in the method embodiments above, and each component in the electronic device 100 is configured to implement the operations performed by the first network element in the method embodiments above. The processor 1002 calls the computer program stored in the memory 1001 to execute the collaborative vehicle control method shown in Figures 4 and 5 above, which may be specifically as follows:

[0396] The first network element obtains first data to be processed;

[0397] The first network element performs a first process on the first data to be processed to obtain a first processing result;

[0398] The first network element sends the first processing result to the second network element, where the first processing result is used by the second network element to control the vehicle, wherein the second network element is a network element that does not perform the first processing;

[0399] Alternatively, the first network element performs vehicle control according to the first processing result, and the first network element includes a vehicle gateway.

[0400] In a possible implementation manner, the second network element further includes a network element that does not have the capability of executing the first processing.

[0401] In a possible implementation, before performing the first processing on the first to-be-processed data, the method further includes:

[0402] Determine, based on first information, to perform the first processing on the first data to be processed; wherein the first information is used to instruct execution of the first processing.

[0403] In a possible implementation manner, the first information is further used to indicate that the first network element is allowed to perform the first processing.

[0404] In a possible implementation manner, the first information is further used to indicate a third network element that sends the first data to be processed;

[0405] The determining to perform the first processing on the first to-be-processed data includes:

[0406] Determine to perform the first processing on the first to-be-processed data from the third network element.

[0407] In a possible implementation manner, the first information is further used to indicate the second network element;

[0408] The sending the first processing result to the second network element includes:

[0409] Determine, based on the first information, to send the first processing result to the second network element.

[0410] In a possible implementation, performing the first processing on the first to-be-processed data includes:

[0411] The first processing is performed on the first data to be processed according to the second information; wherein the second information includes a correspondence between the first data to be processed and the first processing. In one possible implementation, the second information also includes relevant information about the first processing, and the relevant information about the first processing includes at least one of the following:

[0412] Processing logic information required to execute the first process, parameter information required to execute the first process, and configuration information required to execute the first process.

[0413] In a possible implementation manner, the second information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or the second network element.

[0414] In a possible implementation manner, the first information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or a network element with a communication orchestration function.

[0415] In one possible implementation, the method further includes:

[0416] The first network element sends first capability information, where the first capability information indicates that the first network element has the capability to execute the first process.

[0417] In a possible implementation, the first capability information includes information about the computing power required to execute the first processing.

[0418] In a possible implementation manner, the first capability information is sent in at least one of the following ways: broadcast message, or point-to-point sending.

[0419] In a possible implementation, the first processing is performed when the following conditions are met: the first network element has computing power to perform the first processing, and the second network element does not have computing power to perform the first processing.

[0420] In a possible implementation, the first network element includes a micro-processing unit MPU and a micro-control unit MCU.

[0421] The specific content of the execution method of the processor 1002 can be found in Figures 4 and 5 above, and will not be repeated here.

[0422] Correspondingly, the processor 1002 calls the computer program stored in the memory 1001, and can also be used to execute the method steps performed by each unit in the collaborative vehicle control device 90 shown in Figure 9 above. The specific content can be found in Figure 9 above and will not be repeated here.

[0423] In another possible design, the electronic device 100 may correspond to the second network element in the method embodiments shown in Figures 4 and 8 above, for example, the electronic device 100 may be the second network element or a chip in the second network element. The electronic device 100 may include components for executing the operations performed by the second network element in the above method embodiments, and each component in the electronic device 100 is configured to implement the operations performed by the second network element in the above method embodiments. The processor 1002 calls the computer program stored in the memory 1001 to execute the collaborative vehicle control method shown in Figures 4 and 8 above, which may be specifically as follows:

[0424] The second network element receives a first processing result sent by the first network element, where the first processing result includes a processing result obtained by the first network element performing a first processing on the first data to be processed, and the second network element is a network element that does not perform the first processing;

[0425] The second network element controls the vehicle according to the first processing result.

[0426] In a possible implementation, the second network element performing vehicle control according to the first processing result includes:

[0427] The second network element performs vehicle control based on the fusion result, wherein the fusion result is associated with the first processing result and the second processing result, or the fusion result is associated with the first processing result and the second data to be processed, and the second processing result includes a processing result obtained by the second network element performing a second processing on the second data to be processed.

[0428] In a possible implementation manner, the second network element further includes a network element that does not have the capability of executing the first processing.

[0429] In a possible implementation, performing the first processing on the first data to be processed is associated with first information, and the first information is used to instruct execution of the first processing.

[0430] In a possible implementation manner, the first information is further used to indicate that the first network element is allowed to perform the first processing.

[0431] In a possible implementation manner, the first information is further used to indicate a third network element that sends the first data to be processed; and performing the first processing on the first data to be processed from the third network element is associated with the first information.

[0432] In a possible implementation manner, the first information is further used to indicate the second network element; and determining that the first processing result is sent to the second network element is associated with the first information.

[0433] In a possible implementation, the first processing performed on the first data to be processed is associated with second information; wherein the second information includes a corresponding relationship between the first data to be processed and the first processing.

[0434] In a possible implementation, the second information further includes relevant information of the first process, and the relevant information of the first process includes at least one of the following:

[0435] Processing logic information required to execute the first process, parameter information required to execute the first process, and configuration information required to execute the first process.

[0436] In a possible implementation manner, the second information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or the second network element.

[0437] In a possible implementation manner, the first information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or a network element with a communication orchestration function.

[0438] In one possible implementation, the method further includes:

[0439] The second network element receives first capability information, where the first capability information indicates that the first network element has the capability to execute the first process.

[0440] In a possible implementation, the first capability information includes information about the computing power required to execute the first processing.

[0441] In a possible implementation manner, the first capability information is received in at least one of the following ways: a broadcast message, or point-to-point reception.

[0442] In a possible implementation, the first processing is performed when the following conditions are met: the first network element has computing power to perform the first processing, and the second network element does not have computing power to perform the first processing.

[0443] In a possible implementation, the first network element includes a micro-processing unit MPU and a micro-control unit MCU.

[0444] The specific content of the execution method of the processor 1002 can be found in Figures 4 and 8 above, and will not be repeated here.

[0445] Correspondingly, the processor 1002 calls the computer program stored in the memory 1001, and can also be used to execute the method steps performed by each unit in the collaborative vehicle control device 90 shown in Figure 9 above. The specific content can be found in Figure 9 above and will not be repeated here.

[0446] In the electronic device 100 described in Figure 10, part of the processing logic is unloaded from the second network element to the first network element, and the first network element is used to cooperate with the second network element to complete the logic processing. This can solve the technical problem that the second network element is unable to perform the first processing due to insufficient computing resources, etc., so that the existing vehicles equipped with the second network element can also support the new functional features provided by the chip update of the second network element.

[0447] In the case where the electronic device may be a chip or a chip system, reference may be made to the schematic structural diagram of the chip shown in FIG11 .

[0448] As shown in Figure 11 , chip 110 includes a processor 1101 and an interface 1102. There may be one or more processors 1101, and there may be multiple interfaces 1102. It should be noted that the functions of processor 1101 and interface 1102 may be implemented through hardware design, software design, or a combination of hardware and software, without limitation.

[0449] Optionally, the chip 110 may further include a memory 1103 , which is used to store necessary program instructions and data.

[0450] In this application, processor 1101 may be configured to call a program for implementing the collaborative vehicle control method provided in one or more embodiments of this application in an electronic device from memory 1103 and execute the instructions contained in the program. Interface 1102 may be configured to output the execution results of processor 1101. In this application, interface 1102 may be specifically configured to output various messages or information from processor 1101.

[0451] Regarding the collaborative vehicle control method provided by one or more embodiments of the present application, reference may be made to the embodiments shown in FIG. 4 , FIG. 5 and FIG. 8 , which will not be described in detail here.

[0452] The processor in the embodiments of the present application may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0453] The memory in the embodiments of the present application is used to provide storage space, in which data such as an operating system and computer programs can be stored. The memory includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM).

[0454] According to the method provided in the embodiment of the present application, the embodiment of the present application also provides a computer-readable storage medium, in which a computer program is stored. When the computer program runs on one or more processors, the method shown in Figures 4, 5 and 8 can be implemented.

[0455] According to the method provided in the embodiment of the present application, the embodiment of the present application also provides a computer program product, which includes a computer program. When the computer program runs on a processor, it can implement the methods shown in Figures 4, 5 and 8 above.

[0456] An embodiment of the present application provides a vehicle side, which includes at least one collaborative vehicle control device 90 or electronic device 100 or chip 110 as described above.

[0457] An embodiment of the present application also provides a system, which includes a vehicle side and at least one such as the above-mentioned collaborative vehicle control device 90 or electronic device 100 or chip 110, for executing the steps executed by the corresponding network element in any of the embodiments of Figures 4, 5 and 8 above.

[0458] An embodiment of the present application also provides a system, which includes a first network element and a second network element, wherein the first network element is used to execute the steps executed by the first network element in any of the embodiments in Figures 4, 5 and 8 above, and the second network element is used to execute the steps executed by the second network element in any of the embodiments in Figures 4, 5 and 8 above.

[0459] An embodiment of the present application further provides a processing device, including a processor and an interface; the processor is used to execute the method in any of the above method embodiments.

[0460] It should be understood that the above-mentioned processing device can be a chip. For example, the processing device can be a field programmable gate array (FPGA), a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, a system on chip (SoC), a central processing unit (CPU), a network processor (NP), a digital signal processing circuit (DSP), a microcontroller unit (MCU), a programmable logic device (PLD) or other integrated chip. The various methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly embodied as being executed by a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor reads the information in the memory and, in conjunction with its hardware, completes the steps of the above method.

[0461] It is understood that the memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus RAM (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0462] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated therein. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a high-density digital video disc (DVD)), or a semiconductor medium (eg, a solid state disc (SSD)).

[0463] The units in the above-mentioned various apparatus embodiments completely correspond to the electronic devices in the method embodiments, and the corresponding modules or units perform the corresponding steps. For example, the communication unit (transceiver) performs the receiving or sending steps in the method embodiments, and other steps except sending and receiving can be performed by the processing unit (processor). The functions of the specific units can be referred to the corresponding method embodiments. Among them, there can be one or more processors.

[0464] It is understood that in the embodiments of the present application, the electronic device can perform some or all of the steps in the embodiments of the present application. These steps or operations are merely examples, and the embodiments of the present application can also perform other operations or variations of various operations. In addition, the various steps can be performed in a different order than those presented in the embodiments of the present application, and it is possible that not all operations in the embodiments of the present application need to be performed.

[0465] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0466] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0467] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interface, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0468] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0469] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0470] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0471] The above is only a specific implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed in this application, which should be covered by the scope of protection of the present application.

Claims

1. A collaborative vehicle control method, characterized in that: include: The first network element obtains first data to be processed; The first network element performs a first process on the first data to be processed to obtain a first processing result; The first network element sends the first processing result to the second network element, where the first processing result is used by the second network element to control the vehicle, wherein the second network element is a network element that does not perform the first processing; Alternatively, the first network element performs vehicle control according to the first processing result, and the first network element includes a vehicle gateway.

2. The method according to claim 1, characterized in that Before performing the first processing on the first data to be processed, the method further includes: Determine, based on first information, to perform the first processing on the first data to be processed; wherein the first information is used to instruct execution of the first processing.

3. The method according to claim 2, characterized in that The first information is further used to instruct a third network element that sends the first data to be processed; The determining to perform the first processing on the first to-be-processed data includes: Determine to perform the first processing on the first to-be-processed data from the third network element.

4. The method according to claim 2 or 3, characterized in that The first information is further used to indicate the second network element; The sending the first processing result to the second network element includes: Determine, based on the first information, to send the first processing result to the second network element.

5. The method according to any one of claims 1 to 4, characterized in that The performing a first processing on the first data to be processed includes: The first processing is performed on the first data to be processed according to second information; wherein the second information includes a correspondence between the first data to be processed and the first processing.

6. The method according to claim 5, characterized in that The second information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or the second network element.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: The first network element sends first capability information, where the first capability information indicates that the first network element has the capability to execute the first process.

8. The method according to any one of claims 1 to 7, characterized in that The first processing is performed when the following conditions are met: the first network element has computing power to perform the first processing, and the second network element does not have computing power to perform the first processing.

9. The method according to any one of claims 1 to 8, characterized in that The first network element includes a micro processing unit MPU and a micro control unit MCU.

10. A coordinated vehicle control method, characterized in that: include: The second network element receives a first processing result sent by the first network element, where the first processing result includes a processing result obtained by the first network element performing a first processing on the first data to be processed, and the second network element is a network element that does not perform the first processing; The second network element controls the vehicle according to the first processing result.

11. The method according to claim 10, characterized in that The second network element controls the vehicle according to the first processing result, including: The second network element performs vehicle control based on the fusion result, wherein the fusion result is associated with the first processing result and the second processing result, or the fusion result is associated with the first processing result and the second data to be processed, and the second processing result includes a processing result obtained by the second network element performing a second processing on the second data to be processed.

12. The method according to claim 10 or 11, characterized in that The first processing performed on the first data to be processed is associated with first information, and the first information is used to instruct execution of the first processing.

13. The method according to claim 12, characterized in that The first information is further used to indicate a third network element that sends the first data to be processed; and performing the first processing on the first data to be processed from the third network element is associated with the first information.

14. The method according to claim 12 or 13, characterized in that The first information is also used to indicate the second network element; determining that sending the first processing result to the second network element is associated with the first information.

15. The method according to any one of claims 10 to 14, characterized in that The first processing performed on the first data to be processed is associated with second information; wherein the second information includes a corresponding relationship between the first data to be processed and the first processing.

16. The method according to claim 15, characterized in that The second information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or the second network element.

17. The method according to any one of claims 10 to 16, characterized in that The method further comprises: The second network element receives first capability information, where the first capability information indicates that the first network element has the capability to execute the first process.

18. The method according to any one of claims 10 to 17, characterized in that The first processing is performed when the following conditions are met: the first network element has computing power to perform the first processing, and the second network element does not have computing power to perform the first processing.

19. The method according to any one of claims 10 to 18, characterized in that The first network element includes a micro processing unit MPU and a micro control unit MCU.

20. A coordinated vehicle control device, characterized in that: include: A processing unit, configured to obtain first data to be processed; The processing unit is further configured to perform a first processing on the first data to be processed to obtain a first processing result; a transceiver unit, configured to send the first processing result to a second network element, where the first processing result is used by the second network element to control the vehicle, wherein the second network element is a network element that does not perform the first processing; Alternatively, the processing unit is further used to control the vehicle according to the first processing result, and the collaborative vehicle control device includes a vehicle-mounted gateway.

21. A coordinated vehicle control device, characterized in that: include: a transceiver unit, configured to receive a first processing result sent by a first network element, wherein the first processing result includes a processing result obtained by the first network element performing a first processing on the first data to be processed, and the collaborative vehicle control device is a device that does not perform the first processing; A processing unit is used to control the vehicle according to the first processing result.

22. An electronic device, characterized in that: include: processor; When the processor calls the computer program or instruction in the memory, the method according to any one of claims 1 to 9 is executed, or the method according to any one of claims 10 to 19 is executed.

23. A computer-readable storage medium, characterized in that include: The computer-readable storage medium is used to store instructions or computer programs; when the instructions or the computer program are executed, the method according to any one of claims 1 to 9 is implemented, or the method according to any one of claims 10 to 19 is implemented.

24. A computer program product, characterized in that include: instructions or computer programs; When the instructions or the computer program are executed, the method according to any one of claims 1 to 9 or the method according to any one of claims 10 to 19 is implemented.

25. A chip, characterized in that: include: processor; The processor is configured to execute instructions; when the instructions are executed, the method according to any one of claims 1 to 9 is implemented, or the method according to any one of claims 10 to 19 is implemented.

26. A vehicle end, characterized in that: It includes the collaborative vehicle control device as described in claim 20, or the collaborative vehicle control device as described in claim 21, or the electronic device as described in claim 22, or the chip as described in claim 25.

27. A system, characterized in that It includes a vehicle and the collaborative vehicle control device as described in claim 20, or the collaborative vehicle control device as described in claim 21, or the electronic device as described in claim 22, or the chip as described in claim 25.

28. A system, characterized in that include: a first network element and a second network element; The first network element is used to execute the method according to any one of claims 1 to 9, and the second network element is used to execute the method according to any one of claims 10 to 19.

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