Method and system for realizing control of multi-redundancy central controller system

Abstract

The invention relates to a vehicle control system technology, and provides a multi-redundancy central controller system control realization method and system, and the method comprises the steps: constructing a multi-redundancy central controller system which comprises a plurality of central controllers, and the plurality of central controllers have different priority levels, every two communication modules are in communication connection; synchronous data are obtained through interactive communication of the multiple central controllers, and switching enabling strategies of the whole vehicle communication modules of the different central controllers are controlled to be executed according to priority levels on the basis of the synchronous data. A set of high-reliability central controller system is designed through multi-redundancy, automatic switching of multi-redundancy central controllers is achieved based on synchronous data according to priority levels, the stability and safety of a vehicle control system are improved, and driving safety is guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle control systems, and in particular to a method and system for implementing control of a multi-redundant central controller system. Background Art

[0002] In modern cars, especially autonomous vehicles, the central controller assumes important responsibilities such as vehicle status monitoring, decision making, and power system control.

[0003] If the existing single controller architecture encounters hardware failure or external extreme working conditions, it may cause the vehicle control system to fail and the program to become abnormal, endangering driving safety.

[0004] Although there are methods on the market to improve the security of central controllers through fault detection and fault warning, and to prevent program errors or crashes through watchdog mechanisms and controller software restarts, there are still possible problems such as system failure or untimely response due to the limitations of a single controller architecture.

[0005] The existing single controller architecture has the following disadvantages:

[0006] 1. Single-point hardware risk: Once the controller hardware fails due to external temperature and humidity environment, time aging, etc., it may cause the entire vehicle control system to fail, endangering driving safety;

[0007] 2. Single-point software risk: Due to certain specific scenarios or working conditions, the controller software crashes or restarts, and the program runs away, which may cause the entire vehicle control logic to be abnormal or respond in a delayed manner, endangering driving safety;

[0008] 3. Inconvenient maintenance: Controller failure often requires on-site maintenance by professionals, affecting the availability and efficiency of the vehicle. Summary of the invention

[0009] The present application provides a method and system for implementing control of a multi-redundant central controller system, which can solve the technical problems that the single central controller architecture in the prior art has limitations and the vehicle control system may fail or respond in a delayed manner.

[0010] In a first aspect, the present application provides a method for implementing control of a multi-redundant central controller system, comprising the following steps:

[0011] Constructing a multi-redundant central controller system, the multi-redundant central controller system includes a plurality of central controllers, each of the plurality of central controllers has a different priority level, and each of the plurality of central controllers is connected to each other by communication;

[0012] In the step of constructing a multi-redundant central controller system, the central controller includes:

[0013] A central computing module, the central computing module is used to perform vehicle control operations;

[0014] A vehicle communication module, which is in communication with the central computing module and other controllers, and is used to distribute data to other controllers according to the calculation results of the central computing module;

[0015] A fault detection module, which is in communication with the central computing module and is used to detect the software and hardware operating status of its own central controller;

[0016] An internal communication module, which communicates data with the fault detection modules of all central controllers, and is used for multiple central controllers to communicate and interact to obtain synchronous data, wherein the synchronous data includes the online status, self-check status and vehicle data to be arbitrated of the central controllers;

[0017] The synchronization data is obtained through interactive communication between multiple central controllers, and based on the synchronization data, the switching enabling strategy of the vehicle communication modules of different central controllers is controlled and executed according to the priority level.

[0018] In combination with the first aspect, in one implementation, the step of acquiring synchronization data through interactive communication of multiple central controllers, and controlling the switching enabling strategy of the vehicle communication modules of different central controllers according to the priority levels based on the synchronization data, specifically includes the following steps:

[0019] Acquire synchronization data through interactive communication between multiple central controllers. When a failure of the currently enabled central controller is detected, control execution of different failure switching operations based on the synchronization data and according to the priority level.

[0020] The synchronous data is acquired through interactive communication between multiple central controllers. When the data processed by the central computing modules of multiple valid central controllers are acquired, different redundant data arbitration operations are controlled and executed according to the priority level based on the synchronous data.

[0021] In combination with the first aspect, in one implementation, the method of acquiring synchronization data through interactive communication of multiple central controllers, when a failure of a currently enabled central controller is acquired, based on the synchronization data, controlling execution of different failure switching operations according to priority levels, specifically includes the following steps:

[0022] After the multi-redundant central controller system is powered on, the central controller status with no errors in self-test is set to valid;

[0023] After each central controller is started, it sends an activation message through the internal communication module;

[0024] Priority ring building is performed according to the priority preset by each central controller;

[0025] According to the effective status and activation messages of each central controller, when the currently enabled central controller fails, a ring is established based on the priority, and different failover operations are controlled.

[0026] In combination with the first aspect, in one implementation, according to the effective state and activation message of each central controller, when the failure of the currently enabled central controller is obtained, a ring is established based on the priority, and different fault switching operations are controlled to be executed, which specifically includes the following steps:

[0027] When a higher priority central controller is online and valid, the higher priority central controller is enabled;

[0028] When a higher-level central controller is online and in an invalid state, a ring is established based on priority to synchronize the data of the higher-level central controller to the second-highest-level central controller that is online and in a valid state and control its vehicle communication module to enable.

[0029] In combination with the first aspect, in one implementation, the central controller further includes:

[0030] The arbitration decision module is connected to the internal communication modules of all central controllers to obtain data from all central controllers and integrate all data to make arbitration decisions to obtain the safest and most reliable data.

[0031] In combination with the first aspect, in one implementation, the acquiring of synchronization data through interactive communication of multiple central controllers, when data processed by central computing modules of multiple valid central controllers is acquired, based on the synchronization data, and according to priority levels, controlling the execution of different redundancy data arbitration operations specifically includes the following steps:

[0032] After the multi-redundant central controller system is powered on, the central controller status that has no errors in self-test is set to valid;

[0033] Priority ring building is performed according to the priority preset by each central controller;

[0034] When data processed by central computing modules of multiple valid central controllers are obtained, each central controller obtains data processed by central computing modules in other valid central controllers, performs comparison, and obtains comparison conditions;

[0035] According to the comparison conditions and priority levels, the control executes different redundant data arbitration operations.

[0036] In combination with the first aspect, in one implementation, the controlling and executing different redundant data arbitration operations according to the comparison working conditions and the priority levels specifically includes the following steps:

[0037] If the data processed by the central computing modules of all valid central controllers are consistent, the vehicle communication module of the central controller with the highest priority among the valid central controllers is enabled;

[0038] If the data processed by the central computing modules of all valid central controllers are inconsistent, the control arbitration decision module will determine the most reliable central controller according to the arbitration algorithm, update the most reliable central controller to the highest priority level, control other central controllers to stop working, and set the status of other central controllers to invalid until the number of valid central controllers is one.

[0039] In a second aspect, the present application provides a multi-redundant central controller system control implementation system, comprising:

[0040] A control system building module is used to build a multi-redundant central controller system, wherein the multi-redundant central controller system includes a plurality of central controllers, each of which has a different priority level and is communicatively connected with each other;

[0041] The central controller comprises:

[0042] A central computing module, the central computing module is used to perform vehicle control operations;

[0043] A vehicle communication module, which is in communication with the central computing module and other controllers, and is used to distribute data to other controllers according to the calculation results of the central computing module;

[0044] A fault detection module, which is in communication with the central computing module and is used to detect the software and hardware operating status of its own central controller;

[0045] An internal communication module, which communicates data with the fault detection modules of all central controllers, and is used for multiple central controllers to communicate and interact to obtain synchronous data, wherein the synchronous data includes the online status, self-check status and vehicle data to be arbitrated of the central controllers;

[0046] The controller switching module is communicatively connected to the internal communication module, and is used to obtain synchronization data through interactive communication between multiple central controllers, and based on the synchronization data, controls the switching enabling strategy of the vehicle communication modules of different central controllers according to the priority level.

[0047] In conjunction with the second aspect, in one implementation, the controller switching module includes:

[0048] A fault switching unit, which is in communication connection with the internal communication module, is used to acquire synchronization data through interactive communication of multiple central controllers, and when a fault of a currently enabled central controller is acquired, controls execution of different fault switching operations based on the synchronization data and according to the priority level;

[0049] The redundancy arbitration unit is communicatively connected to the internal communication module and is used to obtain synchronization data through interactive communication between multiple central controllers. When data processed by the central computing modules of multiple valid central controllers are obtained, different redundancy data arbitration operations are controlled to be executed based on the synchronization data according to the priority level.

[0050] In a third aspect, the present application provides a computer-readable storage medium, on which a multi-redundant central controller system control implementation program is stored, wherein when the multi-redundant central controller system control implementation program is executed by a processor, the steps of the multi-redundant central controller system control implementation method as described above are implemented.

[0051] The beneficial effects brought by the technical solution provided by the embodiment of the present application include at least:

[0052] A high-reliability central controller system is provided through multi-redundancy design. Based on synchronization data and according to priority levels, automatic switching of multi-redundant central controllers is achieved to ensure that the vehicle can maintain necessary control functions and ensure driving safety under any circumstances. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 A method flow chart of a method for implementing a multi-redundant central controller system control method provided in an embodiment of the present application;

[0054] Figure 2 A diagram of the system architecture of a multi-redundant central controller provided in an embodiment of the present application;

[0055] Figure 3 A multi-redundant central controller system fault switching flow chart provided in an embodiment of the present application;

[0056] Figure 4 A functional module block diagram of a multi-redundant central controller system provided in an embodiment of the present application;

[0057] Figure 5 A redundancy data arbitration flow chart of a multi-redundant central controller system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0058] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0059] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings 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 optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to different types.

[0060] In the description of the embodiments of the present application, "exemplary", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "for example" or "for example" is intended to present related concepts in a specific way.

[0061] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; the “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0062] In some processes described in the embodiments of the present application, multiple operations or steps that appear in a specific order are included, but it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or in parallel, and the sequence number of the operation is only used to distinguish the different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0063] First, some technical terms in the present application are explained to facilitate those skilled in the art to understand the present application.

[0064] CCU: Communication Control Unit central controller.

[0065] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0066] First, as Figure 1 As shown, the present application provides a method for implementing control of a multi-redundant central controller system, comprising the following steps:

[0067] Step S1: construct a multi-redundant central controller system, the multi-redundant central controller system includes multiple central controllers, the multiple central controllers have the same vehicle control function and can operate independently, the multiple central controllers have different priority levels, and are communicated with each other;

[0068] In the step of constructing a multi-redundant central controller system, the central controller includes:

[0069] A central computing module, the central computing module is used to perform vehicle control operations;

[0070] A vehicle communication module, which is in communication with the central computing module and other controllers, and is used to distribute data to other controllers according to the calculation results of the central computing module;

[0071] A fault detection module is connected to the central computing module for detecting the software and hardware operation status of its own central controller, wherein the hardware status includes the power supply voltage and external sensors, and the software operation status includes whether the program is running normally, that is, detecting whether the software and hardware of its own central controller have software and hardware operation faults, and performing switching operations between multiple central controllers based on this information;

[0072] An internal communication module, which communicates data with the fault detection modules of all central controllers, and is used for multiple central controllers to communicate and interact to obtain synchronous data, wherein the synchronous data includes the online status, self-check status and vehicle data to be arbitrated of the central controllers;

[0073] Step S2: Acquire synchronization data through interactive communication between multiple central controllers, and based on the synchronization data, control the switching enable strategy of the vehicle communication modules of different central controllers according to the priority level. The synchronization data includes online status, self-test status and / or vehicle control data that needs to be arbitrated.

[0074] This application provides a high-reliability central controller system through multi-redundancy design, realizes automatic switching of multi-redundant central controllers, ensures that the vehicle can maintain necessary control functions under any circumstances, improves the stability and safety of the vehicle control system, and ensures driving safety.

[0075] In the present application, the vehicle communication module of the central controller is enabled, that is, the central controller is controlled to start bus communication. The vehicle communication module of the central controller exchanges information with other controllers in the vehicle, and the central controller executes the control operation of the vehicle.

[0076] In a specific embodiment, step S1: constructing a system architecture of a multi-redundant central controller system such as Figure 2 As shown, there are four central controllers, namely CCU_1, CCU_2, CCU_3, and CCU_4. The highest level central controller is the main controller, and the central controllers at other levels are redundant controllers with redundant design, serving as failover standby controllers and realizing redundant data arbitration functions.

[0077] In one embodiment, the step S2: acquiring synchronization data through interactive communication of multiple central controllers, and controlling the switching enabling strategy of the vehicle communication modules of different central controllers according to the priority level based on the synchronization data, specifically includes the following steps:

[0078] Step S2A: acquiring synchronization data through interactive communication between multiple central controllers, and when a failure of a currently enabled central controller is obtained, controlling execution of different failure switching operations based on the synchronization data and according to priority levels;

[0079] Step S2B: Acquire synchronization data through interactive communication between multiple central controllers. When data processed by central computing modules of multiple valid central controllers are acquired, control execution of different redundant data arbitration operations based on the synchronization data and according to priority levels.

[0080] Through step S2A, the multi-redundant central controller system and the fault detection function ensure that in the event of a single central controller failure, the multi-redundant central controller system can seamlessly switch to other online valid central controllers, thereby ensuring the normal operation of the vehicle and improving the safety of the vehicle;

[0081] Through step S2B, accurate backup of real-time redundant data is achieved through a multi-redundant central controller system and an arbitration switching function, thereby ensuring a highly reliable operation function of the central controller.

[0082] In one embodiment, if Figure 3 As shown, the step S2A: acquiring synchronization data through interactive communication of multiple central controllers, when the currently enabled central controller fails, based on the synchronization data, controlling the execution of different fault switching operations according to the priority level, specifically includes the following steps:

[0083] Step S2A1: After the multi-redundant central controller system is powered on, the central controller status that has no errors in self-test is set to valid;

[0084] Step S2A2: After each central controller is started, it sends an activation (Alive) message through the internal communication module, and the activation message serves as judgment information whether the central controller is online;

[0085] Step S2A3: Priority ring building is performed according to the preset priorities of each central controller; specifically, each central controller sends a ring message, that is, CCU1 points to CCU2, CCU2 points to CCU3, CCU3 points to CCU4, and CCU4 points to CCU1. The purpose of priority ring building is to enable the four controllers to clearly know which controller is online;

[0086] Step S2A4: According to the effective status and activation messages of each central controller, when the currently enabled central controller fails, a ring is established based on the priority, and different failover operations are controlled to be executed.

[0087] In one embodiment, the step S2A4: according to the effective state and activation message of each central controller, when the currently enabled central controller fails, a ring is established based on the priority, and different failover operations are controlled to be executed, specifically including the following steps:

[0088] When the central controller with a higher priority is online and valid, it controls the central controller with a higher priority to be enabled, and other redundant controllers are always on standby and enter the startup or sleep state according to the synchronization data of all central controllers;

[0089] When a higher-level central controller is online and in an invalid state, a ring is established based on priority to synchronize the data of the higher-level central controller to the second-highest-level central controller that is online and in a valid state and control its vehicle communication module to enable.

[0090] In the present application, when the highest-level central controller is in an online and valid state, the vehicle communication module of the highest-level central controller is enabled first to execute control functions on the entire vehicle. When the highest-level central controller fails, a loop is established according to the priority, and the vehicle communication module of the second-highest-level online and valid central controller is enabled in sequence. If the second-highest-level central controller fails, the vehicle communication module of the next-level online and valid central controller is enabled in sequence.

[0091] The application uses a built-in fault detection mechanism to quickly identify abnormalities in the main controller and automatically switch the redundant controller to take over control. The implementation of multiple redundancy makes the system more fault-tolerant.

[0092] In one embodiment, the central controller further includes:

[0093] The arbitration decision module is connected to the internal communication modules of all central controllers to obtain data from all central controllers and integrate all data to make arbitration decisions to obtain the safest and most reliable data.

[0094] In one embodiment, the multi-redundant control system provided by the present application is configured with a redundant communication network in addition to the main communication link to ensure the reliability of data transmission, such as Figure 4 and Figure 5 As shown, the step S2B: acquiring synchronization data through interactive communication of multiple central controllers, when data processed by central computing modules of multiple valid central controllers are acquired, based on the synchronization data, according to the priority level, controlling and executing different redundant data arbitration operations, specifically includes the following steps:

[0095] Step S2B1: after the multi-redundant central controller system is powered on, the central controller state that has no errors in self-test is set to valid;

[0096] Step S2B2: Establishing a priority ring according to the priority preset by each central controller;

[0097] Step S2B3: when data processed by the central computing modules of multiple valid central controllers are obtained, each central controller obtains data processed by the central computing modules in other valid central controllers, compares the data processed by the central computing modules in all valid central controllers, and obtains the comparison working conditions; specifically, through the high-speed data bus, the main controller and the redundant controller continuously perform data synchronization and status comparison to ensure the consistency of data information and fault information;

[0098] Step S2B4: According to the comparison conditions and priority levels, control the execution of different redundancy data arbitration operations.

[0099] In one embodiment, the step S2B4: controlling the execution of different redundancy data arbitration operations according to the comparison conditions and the priority levels, specifically includes the following steps:

[0100] If the data processed by the central computing modules of all valid central controllers are consistent, the vehicle communication module of the central controller with the highest priority among the valid central controllers is enabled;

[0101] If the data processed by the central computing modules of all valid central controllers are inconsistent, the control arbitration decision module will determine the most reliable central controller according to the arbitration algorithm, update the most reliable central controller to the highest priority level, control other central controllers to stop working, and set the status of other central controllers to invalid until the number of valid central controllers is one. In this case, the vehicle will degenerate into a single redundant controller and wait for maintenance to repair or supplement the abnormal redundant controller.

[0102] The multi-redundant central controller system provided in this application supports hot-swappable controller design, allows replacement of faulty components without shutting down the system, and has remote diagnosis and software update capabilities.

[0103] In a second aspect, the present application provides a multi-redundant central controller system control implementation system, comprising:

[0104] A control system building module is used to build a multi-redundant central controller system, wherein the multi-redundant central controller system includes a plurality of central controllers, each of which has a different priority level and is communicatively connected with each other;

[0105] The central controller comprises:

[0106] A central computing module, the central computing module is used to perform vehicle control operations;

[0107] A vehicle communication module, which is in communication with the central computing module and other controllers, and is used to distribute data to other controllers according to the calculation results of the central computing module;

[0108] A fault detection module, which is in communication with the central computing module and is used to detect the software and hardware operating status of its own central controller;

[0109] An internal communication module, which communicates data with the fault detection modules of all central controllers, and is used for multiple central controllers to communicate and interact to obtain synchronous data, wherein the synchronous data includes the online status, self-check status and vehicle data to be arbitrated of the central controllers;

[0110] The controller switching module is communicatively connected to the internal communication module, and is used to obtain synchronization data through interactive communication between multiple central controllers, and based on the synchronization data, controls the switching enabling strategy of the vehicle communication modules of different central controllers according to the priority level.

[0111] In one embodiment, the controller switching module includes:

[0112] A fault switching unit, which is in communication connection with the internal communication module, is used to acquire synchronization data through interactive communication of multiple central controllers, and when a fault of a currently enabled central controller is acquired, controls execution of different fault switching operations based on the synchronization data and according to the priority level;

[0113] The redundancy arbitration unit is communicatively connected to the internal communication module and is used to obtain synchronization data through interactive communication between multiple central controllers. When data processed by the central computing modules of multiple valid central controllers are obtained, different redundancy data arbitration operations are controlled to be executed based on the synchronization data according to the priority level.

[0114] Among them, the functional implementation of each module in the above-mentioned multi-redundant central controller system control implementation system corresponds to the various steps in the above-mentioned multi-redundant central controller system control implementation method embodiment, and its functions and implementation processes are no longer repeated here one by one.

[0115] In a third aspect, an embodiment of the present application provides a multi-redundant central controller system control implementation device, which can be a personal computer (PC), a laptop computer, a server, or other device with data processing capabilities.

[0116] The communication interface includes input / output (I / O) interface, physical interface and logical interface, etc., which are used to realize the interconnection of devices inside the device by the multi-redundant central controller system control, and the interconnection of the device with other devices (such as other computing devices or user devices) by the multi-redundant central controller system control. The physical interface can be an Ethernet interface, a fiber optic interface, an ATM interface, etc.; the user device can be a display, a keyboard, etc.

[0117] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0118] The processor may be a general-purpose processor, and the general-purpose processor may call the multi-redundant central controller system control implementation program stored in the memory, and execute the multi-redundant central controller system control implementation method provided by the embodiment of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the multi-redundant central controller system control implementation program is called may refer to the various embodiments of the multi-redundant central controller system control implementation method of the present application, and will not be repeated here.

[0119] In a fourth aspect, an embodiment of the present application also provides a readable storage medium.

[0120] The readable storage medium of the present application stores a multi-redundant central controller system control implementation program, wherein when the multi-redundant central controller system control implementation program is executed by a processor, the steps of the multi-redundant central controller system control implementation method as described above are implemented.

[0121] Among them, the method implemented when the multi-redundant central controller system control implementation program is executed can refer to the various embodiments of the multi-redundant central controller system control implementation method of the present application, and will not be repeated here.

[0122] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0123] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present application.

[0124] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for implementing control of a multi-redundant central controller system, characterized in that: The following steps are involved: Constructing a multi-redundant central controller system, the multi-redundant central controller system includes a plurality of central controllers, each of the plurality of central controllers has a different priority level, and each of the plurality of central controllers is connected to each other by communication; In the step of constructing a multi-redundant central controller system, the central controller includes: A central computing module, the central computing module is used to perform vehicle control operations; A vehicle communication module, which is in communication with the central computing module and other controllers, and is used to distribute data to other controllers according to the calculation results of the central computing module; A fault detection module, which is in communication with the central computing module and is used to detect the software and hardware operating status of its own central controller; An internal communication module, which communicates data with the fault detection modules of all central controllers, and is used for multiple central controllers to communicate and interact to obtain synchronous data, wherein the synchronous data includes the online status, self-check status and vehicle data to be arbitrated of the central controllers; The synchronization data is obtained through interactive communication between multiple central controllers, and based on the synchronization data, the switching enabling strategy of the vehicle communication modules of different central controllers is controlled and executed according to the priority level.

2. The method for implementing control of a multi-redundant central controller system according to claim 1, characterized in that: The method of acquiring synchronization data through interactive communication of multiple central controllers and controlling the switching enabling strategies of the vehicle communication modules of different central controllers according to the priority levels based on the synchronization data specifically includes the following steps: Acquire synchronization data through interactive communication between multiple central controllers. When a failure of the currently enabled central controller is detected, control execution of different failure switching operations based on the synchronization data and according to the priority level. The synchronous data is acquired through interactive communication between multiple central controllers. When the data processed by the central computing modules of multiple valid central controllers are acquired, different redundant data arbitration operations are controlled and executed according to the priority level based on the synchronous data.

3. The method for implementing control of a multi-redundant central controller system as claimed in claim 2, characterized in that: The method of acquiring synchronization data through interactive communication between multiple central controllers and, when a failure of a currently enabled central controller is detected, controlling execution of different failure switching operations based on the synchronization data and according to the priority level specifically includes the following steps: After the multi-redundant central controller system is powered on, the central controller status with no errors in self-test is set to valid; After each central controller is started, it sends an activation message through the internal communication module; Priority ring building is performed according to the priority preset by each central controller; According to the effective status and activation messages of each central controller, when the currently enabled central controller fails, a ring is established based on the priority, and different failover operations are controlled.

4. The method for implementing control of a multi-redundant central controller system as claimed in claim 3, characterized in that: According to the effective state and activation message of each central controller, when the currently enabled central controller fails, a ring is established based on the priority, and different fault switching operations are controlled and executed, which specifically includes the following steps: When a higher priority central controller is online and valid, the higher priority central controller is enabled; When a higher-level central controller is online and in an invalid state, a ring is established based on priority to synchronize the data of the higher-level central controller to the second-highest-level central controller that is online and in a valid state and control its vehicle communication module to enable.

5. The method for implementing control of a multi-redundant central controller system as claimed in claim 2, characterized in that: The central controller also includes: The arbitration decision module is connected to the internal communication modules of all central controllers to obtain data from all central controllers and integrate all data to make arbitration decisions to obtain the safest and most reliable data.

6. The method for implementing control of a multi-redundant central controller system as claimed in claim 5, characterized in that: The method of acquiring synchronous data through interactive communication of multiple central controllers, when acquiring data processed by central computing modules of multiple valid central controllers, controls execution of different redundant data arbitration operations based on the synchronous data and according to the priority level, specifically includes the following steps: After the multi-redundant central controller system is powered on, the central controller status that has no errors in self-test is set to valid; Priority ring building is performed according to the priority preset by each central controller; When data processed by central computing modules of multiple valid central controllers are obtained, each central controller obtains data processed by central computing modules in other valid central controllers, performs comparison, and obtains comparison conditions; According to the comparison conditions and priority levels, the control executes different redundant data arbitration operations.

7. The method for implementing control of a multi-redundant central controller system according to claim 6, characterized in that: According to the comparison working conditions and according to the priority levels, controlling and executing different redundant data arbitration operations specifically includes the following steps: If the data processed by the central computing modules of all valid central controllers are consistent, the vehicle communication module of the central controller with the highest priority among the valid central controllers is enabled; If the data processed by the central computing modules of all valid central controllers are inconsistent, the control arbitration decision module will determine the most reliable central controller according to the arbitration algorithm, update the most reliable central controller to the highest priority level, control other central controllers to stop working, and set the status of other central controllers to invalid until the number of valid central controllers is one.

8. A multi-redundant central controller system control implementation system, characterized in that: include: A control system building module is used to build a multi-redundant central controller system, wherein the multi-redundant central controller system includes a plurality of central controllers, each of which has a different priority level and is communicatively connected with each other; The central controller comprises: A central computing module, the central computing module is used to perform vehicle control operations; A vehicle communication module, which is in communication with the central computing module and other controllers, and is used to distribute data to other controllers according to the calculation results of the central computing module; A fault detection module, which is in communication with the central computing module and is used to detect the software and hardware operating status of its own central controller; An internal communication module, which communicates data with the fault detection modules of all central controllers, and is used for multiple central controllers to communicate and interact to obtain synchronous data, wherein the synchronous data includes the online status, self-check status and vehicle data to be arbitrated of the central controllers; The controller switching module is communicatively connected to the internal communication module, and is used to obtain synchronization data through interactive communication between multiple central controllers, and based on the synchronization data, controls the switching enabling strategy of the vehicle communication modules of different central controllers according to the priority level.

9. The multi-redundant central controller system control implementation system as claimed in claim 8, characterized in that: The controller switching module comprises: A fault switching unit, which is in communication connection with the internal communication module, is used to acquire synchronization data through interactive communication of multiple central controllers, and when a fault of a currently enabled central controller is acquired, controls execution of different fault switching operations based on the synchronization data and according to the priority level; The redundancy arbitration unit is communicatively connected to the internal communication module and is used to obtain synchronization data through interactive communication between multiple central controllers. When data processed by the central computing modules of multiple valid central controllers are obtained, different redundancy data arbitration operations are controlled to be executed based on the synchronization data according to the priority level.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a multiple redundant central controller system control implementation program, wherein when the multiple redundant central controller system control implementation program is executed by the processor, the steps of the multiple redundant central controller system control implementation method as described in any one of claims 1 to 7 are implemented.

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