Control device, control system and vehicle

Abstract

A control device, control system, and vehicle belong to the field of electronic technology. The first isolation unit in the control system can receive a first-level signal output by a first control unit and a second-level signal output by a first controlled unit, and can output a first control signal to the first controlled unit. The first controlled unit, under the action of the first control signal, can output a second-level signal to the first isolation unit. Therefore, even if the first control unit fails, the first isolation unit can continue to output the first control signal to the first controlled unit based on the second-level signal output by the first controlled unit. This achieves isolation of the first control unit's failure, effectively improving the reliability of the control system.

Description

Technical Field

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

[0002] In the field of electronic technology, board-level design typically includes modules such as computing units, management units, and power supply units. The timing management and diagnostic testing of a single board are handled uniformly by the control unit (or management unit). When the control unit malfunctions, it can lead to loss of product functionality, thus requiring improved product reliability. Summary of the Invention

[0003] This application provides a control device, a control system, and a vehicle to improve product reliability.

[0004] In a first aspect, a control system is provided, comprising: a first control unit, a first isolation unit, and a first controlled unit. The first control unit is connected to the first isolation unit and is used to output a first-level signal to the first isolation unit. The first isolation unit has a first input terminal, a second input terminal, and an output terminal. The first isolation unit is used to receive the first-level signal and the second-level signal through its first input terminal and the second input terminal, respectively, and to output a first control signal to the first controlled unit through its output terminal. The first controlled unit is used to output a second-level signal to the second input terminal of the first isolation unit under the action of the first control signal.

[0005] In the solution provided in this application, even if the first control unit fails, the first isolation unit can still output a first control signal to the first controlled unit based on the second level signal output by the first controlled unit, thereby controlling the first controlled unit. This achieves isolation of the first control unit's failure and effectively improves the reliability of the control system.

[0006] Optionally, the first isolation unit may include a first switch and a logic operation circuit. The first switch has a first terminal and a second terminal, and the logic operation circuit has a first input terminal, a second input terminal, and an output terminal. The first input terminal of the logic operation circuit serves as the first input terminal of the first isolation unit, used to receive a first level signal as a first input signal. The first terminal of the first switch serves as the second input terminal of the first isolation unit, used to receive the second level signal. The second terminal of the first switch is connected to the second input terminal of the logic operation circuit and is used to output a second input signal to the second input terminal of the logic operation circuit when the first switch is turned on. The logic operation circuit performs logical operations on the first and second input signals and outputs a first control signal through its output terminal.

[0007] Specifically, when either the first input signal or the second input signal is at a valid level, the level of the first control signal output by the logic operation circuit can be at a valid level. When both the first input signal and the second input signal are at invalid levels, the level of the first control signal output by the logic operation circuit can be at an invalid level.

[0008] Optionally, the effective level of the first control signal can be high relative to the ineffective level, and the effective level of the first input signal and the second input signal can also be high relative to the ineffective level. Accordingly, the logic operation circuit can be used to perform an OR operation on the first input signal and the second input signal.

[0009] Based on the OR operation logic, when either the first input signal or the second input signal is high, the first control signal output by the logic operation circuit is high; when both the first input signal and the second input signal are low, the first control signal output by the logic operation circuit is low.

[0010] Optionally, the logic operation circuit can be an OR gate. Using an OR gate as the logic operation circuit can effectively reduce the structural complexity and cost of the control system.

[0011] Optionally, the effective level of the first control signal can be low relative to the ineffective level, and the effective level of the first input signal and the second input signal can be high relative to the ineffective level. Accordingly, the logic operation circuit can be used to perform OR and NOT operations on the first input signal and the second input signal sequentially.

[0012] Based on this, when either the first input signal or the second input signal is high, the first control signal output by the logic operation circuit is low; when both the first input signal and the second input signal are low, the first control signal output by the logic operation circuit is high.

[0013] Optionally, the logic operation circuit may include an OR gate and a NOT gate. The two inputs of the OR gate are the first and second inputs of the logic operation circuit, respectively. The output of the OR gate is connected to the input of the NOT gate, and the output of the NOT gate is the output of the logic operation circuit.

[0014] Optionally, the first switch may include a transistor or a field-effect transistor. Using a transistor or a field-effect transistor as the first switch can effectively simplify the structural complexity of the control system and reduce its cost.

[0015] Optionally, the control system may further include a second control unit. The logic operation circuit also has a third input terminal, and the output terminal of the second control unit is connected to the third input terminal and is used to output a third level signal to the logic operation circuit as a third input signal of the logic operation circuit.

[0016] Because the second control unit can output a third-level signal to the logic circuit, the logic circuit can also output a first control signal to the first controlled unit under the action of this third-level signal. This effectively improves the flexibility of controlling the first controlled unit. For example, after a failure of the first control unit, the second control unit can output a valid third-level signal, causing the logic circuit to output a valid first control signal to the first controlled unit. This facilitates the location of faults in the control system by maintenance personnel or R&D personnel.

[0017] Optionally, the control system may further include a second control unit. The first switch also has a third terminal, and the output terminal of the second control unit can be connected to the third terminal of the first switch and used to control the on / off state of the first terminal and the second terminal of the first switch.

[0018] When the second control unit controls the first terminal of the first switch to turn off, the first switch cannot output a second input signal to the logic circuit based on the second level signal output by the first controlled unit. Accordingly, the logic circuit will no longer output a first control signal based on the second input signal, thereby unlocking the state of the first controlled unit.

[0019] Optionally, the control system may further include a communication unit. This communication unit is connected to the input of the second control unit and is used to output fault detection commands to the second control unit.

[0020] The communication unit may include a wired connector and / or a wireless communication module. The second control unit may, based on the fault detection command, control the first and second terminals of the first switch to turn off, and output a valid third-level signal to the logic circuit.

[0021] Optionally, the control system may include a first domain and a second domain, wherein the second domain is used to provide redundant backup for some or all of the functions of the first domain, the first control unit belongs to the first domain, and the first controlled unit belongs to the second domain.

[0022] Optionally, the control system may include a first power domain and a second power domain, with a first control unit belonging to the first power domain and the first controlled unit being a power supply unit for the second power domain. A first control signal is used to control the power supply unit of the second power domain to power on or off. The first control unit may be powered by the power supply unit of the first power domain.

[0023] Optionally, the first power domain may further include one or more of the second control unit, the first computing unit, and the first storage unit, and the power supply unit of the first power domain is also used to supply power to one or more of the second control unit, the first computing unit, and the first storage unit.

[0024] For example, the first power domain may also include a second control unit, a first computing unit, and a first storage unit, meaning that both the first control unit and the second control unit belong to the first power domain.

[0025] Optionally, the control system may further include a third power domain, and the second control unit may belong to and be powered by a power supply unit within that third power domain. It is understood that when a power supply unit in any power domain fails, that failed power supply unit will be unable to supply power to other functional units within that power domain, leading to an abnormal power-down of all other functional units. Since the first control unit and the second control unit belong to two different power domains, the simultaneous abnormal power-down of both control units due to a power supply unit failure in one power domain can be effectively avoided.

[0026] Optionally, the control system may further include a second computing unit and / or a second storage unit. The power supply unit of the second power domain is used to supply power to the second computing unit and / or the second storage unit.

[0027] Specifically, when the first control signal is invalid, the power supply unit of the second power domain remains powered down, and the second computing unit and / or the second storage unit in the second power domain also remain powered down. When the first control signal is active, the power supply unit of the second power domain can be powered on under the control of the first control signal and supply power to the second computing unit and / or the second storage unit, thereby enabling the second computing unit and / or the second storage unit to remain powered on.

[0028] Optionally, the power supply unit of the second power domain may include: a first voltage conversion unit and a second voltage conversion unit. The control system may further include: a second isolation unit. The first isolation unit is used to output a first control signal to the first voltage conversion unit; the first control unit is also connected to the second isolation unit and is used to output a fourth-level signal to the second isolation unit. The second isolation unit has an input terminal and an output terminal. The second isolation unit is used to receive the fourth-level signal through its input terminal and, under the action of the fourth-level signal, output a second control signal to the second voltage conversion unit through its output terminal. The second control signal is used to control the second voltage conversion unit to power on or off.

[0029] Specifically, when the fourth level signal is active, the second control signal output by the second isolation unit can be inactive, and the second voltage conversion unit can remain powered down. When the fourth level signal is inactive, the second control signal output by the second isolation unit can be active, and the second voltage conversion unit can be powered on under the drive of the active second control signal. Since the fourth level signal output by the first control unit is inactive when the first control unit malfunctions or abnormally powers down, the second isolation unit can continuously output an active second control signal, thereby keeping the second voltage conversion unit powered on. This avoids the first control unit's malfunction affecting the power-on state of the second voltage conversion unit.

[0030] Optionally, the first control unit can be used to output the first level signal and the fourth level signal according to the operating mode of the control system.

[0031] It is understandable that by controlling the high and low levels of the first and fourth level signals, the power-on and power-off states of the first and second voltage conversion units can be controlled. Therefore, the first control unit can control the power-on of different voltage conversion units in the third power supply unit when the control system is in different operating modes, thereby effectively reducing the power consumption of the control system without affecting its performance.

[0032] Optionally, the second isolation unit may include a second switch having a first terminal, a second terminal, and a third terminal. The first terminal of the second switch serves as the input terminal of the second isolation unit, used to receive a fourth level signal; the second terminal of the second switch serves as the output terminal of the second isolation unit, connected to both the power supply terminal and the input terminal of the second voltage conversion unit; and the third terminal of the second switch is connected to the ground terminal.

[0033] The fourth level signal can be used to control the on / off state of the second and third terminals of the second switch. When the fourth level signal is active, the second and third terminals of the second switch are connected. At this time, since both the power supply terminal and the input terminal of the second voltage conversion unit are connected to the ground terminal, the second voltage conversion unit remains powered off. When the fourth level signal is inactive, the second and third terminals of the second switch are off. At this time, since the input terminal of the second voltage conversion unit is connected to the power supply terminal, the second voltage conversion unit can remain powered on under the drive of the power supply terminal.

[0034] Optionally, the first terminal of the second switch can be grounded through a first resistor, and the second terminal of the second switch can be connected to the power supply terminal through a second resistor.

[0035] Optionally, the second switch may include a transistor or a field-effect transistor. Using a transistor or a field-effect transistor as the second switch can effectively simplify the structural complexity of the control system and reduce its cost.

[0036] Optionally, the first controlled unit is a computing unit, and the first control signal can be a reset signal used to control the computing unit to reset.

[0037] Optionally, the control system may further include a third isolation unit and a second controlled unit. The first control unit may also be connected to the third isolation unit and used to output a fifth-level signal to the third isolation unit. The third isolation unit has a first input terminal, a second input terminal, and an output terminal. The third isolation unit is used to receive the fifth-level signal and a sixth-level signal through its first and second input terminals, respectively, and to output a third control signal to the second controlled unit through its output terminal. The second controlled unit is used to output the sixth-level signal to the second input terminal of the third isolation unit under the action of the third control signal.

[0038] The structure and working principle of the third isolation unit can be referenced from those of the first isolation unit, and will not be repeated here. Furthermore, the second controlled unit can be a power supply unit, a computing unit, or other functional units.

[0039] Secondly, a control device is provided, comprising: a control unit and an isolation unit. The control unit is connected to the isolation unit and is used to output a first-level signal to the isolation unit. The isolation unit has a first input terminal, a second input terminal, and an output terminal. The isolation unit is used to receive the first-level signal through its first input terminal, receive a second-level signal output by a controlled unit through its second input terminal, and output a control signal to the controlled unit through its output terminal. The control signal is used to control the controlled unit to output the second-level signal.

[0040] Optionally, the isolation unit may include a switch and a logic operation circuit. The switch has a first terminal and a second terminal, and the logic operation circuit has a first input terminal, a second input terminal, and an output terminal. The first input terminal of the logic operation circuit serves as the first input terminal of the isolation unit, used to receive a first level signal as a first input signal. The first terminal of the switch serves as the second input terminal of the isolation unit, used to receive a second level signal. The second terminal of the switch is connected to the second input terminal of the logic operation circuit, used to output a second input signal to the second input terminal of the logic operation circuit when the switch is turned on. The logic operation circuit performs logical operations on the first and second input signals and outputs the control signal through its output terminal.

[0041] Optionally, the effective level of the control signal is high relative to the invalid level, and the logic operation circuit is used to perform an OR operation on the first input signal and the second input signal. Alternatively, the effective level of the control signal is low relative to the invalid level, and the logic operation circuit is used to perform an OR operation on the first input signal and the second input signal sequentially.

[0042] Optionally, the switch may include a transistor or a field-effect transistor.

[0043] Thirdly, another control device is provided, comprising: a first control unit, a second control unit, and a latching unit. The first control unit is connected to the latching unit and outputs a first-level signal to the latching unit; the second control unit is also connected to the latching unit and outputs a second-level signal to the latching unit. The latching unit has a first input terminal, a second input terminal, and an output terminal. The latching unit receives the first-level signal and the second-level signal through its first and second input terminals, respectively, samples and latches the second-level signal under the action of the first-level signal, and outputs the latched signal to the controlled unit through its output terminal.

[0044] Based on the working principle of the latch unit described above, it can be seen that even if the first control unit fails, the latch unit can still continue to output latched signals to the first controlled unit. This achieves isolation of the first control unit from failure, effectively improving the reliability of the control device.

[0045] The latch unit samples and latches the level of the second level signal when a jumping edge exists in the first level signal, and outputs the latched signal. Since the first level signal output by the first control unit will not have a jumping edge when the first control unit malfunctions or experiences an abnormal power-down, this first level signal will not trigger the latch unit to adjust the level of its output signal, allowing the controlled unit to maintain its previous operating state. In other words, the latch unit prevents the failure of the first control unit from affecting the operating state of the controlled unit, achieving fault isolation of the first control unit and thus locking the state of the controlled unit.

[0046] Optionally, the latching unit may include an edge-triggered trigger. The first level signal output by the first control unit may include at least one target jump edge, which may be a rising edge or a falling edge. The level of the second level signal output by the second control unit may be an active level. When the edge-triggered trigger detects the presence of a target jump edge at its first input, it samples and latches the level of its second input (i.e., the level of the second level signal) and outputs the latched signal.

[0047] Optionally, the latch unit may also have a power supply terminal; the second control unit is also connected to the power supply terminal of the latch unit and is used to control the power-on and power-off states of the latch unit.

[0048] In the event of a malfunction or abnormal power-down of the first control unit, if the latching unit needs to stop outputting control signals, the second control unit can power down the latching unit. This releases the latching unit's control over the controlled unit, effectively unlocking the controlled unit's status.

[0049] Fourthly, an isolation circuit is provided, comprising: a logic operation circuit having a first input terminal, a second input terminal, and an output terminal, wherein the first input terminal is used to receive a first level signal as a first input signal, the second input terminal is used to receive a second input signal, and the logic operation circuit is used to perform logic operations on the first input signal and the second input signal, and outputs a first control signal through the output terminal; and a switch having a first terminal and a second terminal, wherein the first terminal is used to receive a second level signal, and the second terminal is connected to the first input terminal of the logic operation circuit, and is used to output a second input signal to the second input terminal of the logic operation circuit when the switch is turned on, wherein the second level signal is the output of the controlled unit under the control of the first control signal.

[0050] Fifthly, a control system is provided, including a control device as provided in the second or third aspect above, and a controlled unit.

[0051] Sixthly, a central computing platform is provided, comprising: a control system as provided in any of the preceding aspects, and at least one interface. The at least one interface may include one or more of a power interface, an Ethernet interface, and a sensor interface. The central computing platform may be an intelligent central computing module or a high-performance central computing platform, and the central computing platform may be a box-type device.

[0052] In a seventh aspect, an autonomous driving system is provided, comprising: a central computing platform as described above, an onboard sensor assembly, and an onboard controller assembly. The central computing platform is used to process data collected by the onboard sensor assembly and to control the onboard actuator assembly to perform autonomous driving operations.

[0053] Eighthly, a vehicle is provided, comprising: a control system as provided in any of the preceding aspects. The vehicle may be a vehicle, for example, a vehicle equipped with autonomous driving capabilities.

[0054] Optionally, the vehicle also includes a battery assembly for powering the power supply unit in the control system.

[0055] In summary, this application provides a control device, a control system, and a vehicle. The first isolation unit in this control system can receive a first-level signal output by a first control unit and a second-level signal output by a first controlled unit, and can output a first control signal to the first controlled unit. The first controlled unit, under the action of the first control signal, can output a second-level signal to the first isolation unit. Therefore, even if the first control unit fails, the first isolation unit can continue to output the first control signal to the first controlled unit based on the second-level signal output by the first controlled unit. This achieves isolation of the first control unit from failure, effectively improving the reliability of the control system. Attached Figure Description

[0056] Figure 1 This is a schematic diagram of the structure of a control system provided in an embodiment of this application;

[0057] Figure 2 This is a schematic diagram of another control system provided in an embodiment of this application;

[0058] Figure 3 This is a schematic diagram of the structure of a logic operation circuit provided in an embodiment of this application;

[0059] Figure 4 This is a schematic diagram of the structure of another control system provided in the embodiments of this application;

[0060] Figure 5 This is a schematic diagram of another control system provided in an embodiment of this application;

[0061] Figure 6 This is a schematic diagram of another control system provided in an embodiment of this application;

[0062] Figure 7 This is a schematic diagram of the structure of a second power supply unit provided in an embodiment of this application;

[0063] Figure 8 This is a schematic diagram of another control system provided in an embodiment of this application;

[0064] Figure 9 This is a schematic diagram of another control system provided in an embodiment of this application;

[0065] Figure 10 This is a schematic diagram of the structure of a control device provided in an embodiment of this application;

[0066] Figure 11 This is a schematic diagram of another control device provided in an embodiment of this application;

[0067] Figure 12This is a schematic diagram of the structure of a central computing platform provided in an embodiment of this application;

[0068] Figure 13 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Detailed Implementation

[0069] The control device, control system, and vehicle provided in the embodiments of this application are described in detail below with reference to the accompanying drawings.

[0070] This application provides a control system that can be applied to a vehicle. The vehicle can include road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or recreational equipment. For example, the vehicle can be a vehicle, which is a broad concept and can include transportation vehicles (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawnmowers, harvesters, etc.), amusement equipment, or toy vehicles, etc. This application does not specifically limit the type of vehicle. Furthermore, the vehicle can be an airplane or a ship.

[0071] Optionally, this control system can also be applied to other devices, such as servers or network devices in the field of information and communications technology (ICT). It is understood that the control system provided in this application embodiment can be applied to various devices with fault isolation requirements, such as devices with multiple power domains that require fault isolation between power domains.

[0072] like Figure 1 As shown, the control system includes: a first control unit 01, a first isolation unit 02, and a first controlled unit 03. The first control unit 01 is connected to the first isolation unit 02, and the first control unit 01 is used to output a first level signal S1 to the first isolation unit 02.

[0073] The first isolation unit 02 has a first input terminal, a second input terminal, and an output terminal. The first isolation unit 02 is used to receive a first level signal S1 through the first input terminal, receive a second level signal S2 through the second input terminal, and output a first control signal C1 to the first controlled unit 03 through the output terminal.

[0074] The first controlled unit 03 is used to output a second level signal S2 to the second input terminal of the first isolation unit 02 under the action of the first control signal C1.

[0075] Since the first controlled unit 03 can output the second level signal S2 under the action of the first control signal C1, even if the first control unit 01 fails or is abnormally powered off, the first isolation unit 02 can continue to output the first control signal C1 to the first controlled unit 03 based on the second level signal S2 received at its second input terminal.

[0076] In this embodiment, the first isolation unit 02 can be used to output a first control signal C1 with an effective level when the level signal received at either its first input terminal or its second input terminal is an effective level. Furthermore, the first isolation unit 02 can also be used to output a first control signal C1 with an invalid level when both the level signals received at its first input terminal and its second input terminal are invalid levels.

[0077] If the first control signal C1 output by the first isolation unit 02 is valid, the first controlled unit 03 can maintain the target operating state (e.g., power-on state or reset state) and can output a valid second-level signal S2 to the second input terminal of the first isolation unit 02. If the first control signal C1 is invalid, the first controlled unit 03 cannot be in the target operating state, and the first controlled unit 03 stops outputting the second-level signal S2, or the second-level signal S2 output by the first controlled unit 03 is invalid.

[0078] In this embodiment, the first control unit 01 can output a valid first-level signal S1 to the first isolation unit 02 after power-on. Under the influence of the valid first-level signal S1, the first isolation unit 02 can output a valid first control signal C1 to the first controlled unit 03. The first controlled unit 03 can then operate in the target state under the control of the first control signal C1 and feed back a valid second-level signal S2 to the first isolation unit 02. Therefore, even if the first control unit 01 cannot continue to output the valid first-level signal S1 due to a fault or abnormal power-off, the second-level signal S2 can still enable the first isolation unit 02 to continuously output the valid first control signal C1. Thus, the first controlled unit 03 can continuously maintain the target operating state. That is, the first isolation unit 01 can isolate the fault of the first control unit 01 under the influence of the second-level signal S2 output by the first controlled unit 03, achieving state self-locking of the first controlled unit 03.

[0079] Optionally, such as Figure 1 As shown, the first isolation unit 02 may include a first switch 021 and a logic operation circuit 022. The first switch 021 has a first terminal and a second terminal, and the logic operation circuit 022 has a first input terminal, a second input terminal, and an output terminal.

[0080] The first input terminal of the logic operation circuit 022 serves as the first input terminal of the first isolation unit 02 and can be used to receive the first level signal S1 as the first input signal T1.

[0081] The first end of the first switch 021 serves as the second input end of the first isolation unit 02, and can be used to receive the second level signal S2. The second end of the first switch 021 is connected to the second input end of the logic operation circuit 022, and can be used to output the second input signal T2 to the second input end of the logic operation circuit 022 when the first switch 021 is turned on.

[0082] The logic operation circuit 022 can be used to perform logic operations on the received multiple input signals (including the first input signal T1 and the second input signal T2), and output the first control signal C1 through its output terminal. Furthermore, the logic operation circuit 022 can output the first control signal C1 at a valid level when any of its received input signals is at a valid level, and can output the first control signal C1 at an invalid level when all of its received input signals are at an invalid level.

[0083] In this embodiment, the default on / off state of the first and second terminals of the first switch 021 can be the on state. Therefore, the first switch 021 can output a second input signal T2 to the second input terminal of the logic operation circuit 022 based on the second level signal S2 output by the first controlled unit 03. Alternatively, it can be understood that the first switch 021 can transmit the second level signal S2 to the second input terminal of the logic operation circuit 022 as the second input signal T2. If the first controlled unit 03 needs to exit the target working state after a fault or abnormal power-off of the first control unit 01, the first and second terminals of the first switch 021 can be turned off. At this time, since the first switch 021 cannot output the second input signal T2 to the second input terminal of the logic operation circuit 022, and the first control unit 01 cannot continue to output a valid first level signal S1 (i.e., the first input signal T1) due to a fault or abnormal power-off, the first control signal C1 output by the logic operation circuit 022 is invalid. Accordingly, the first controlled unit 03 can exit the target working state. That is, by turning off the first end and the second end of the first switch 021, the state of the first controlled unit 03 can be unlocked.

[0084] As a first optional implementation, the effective level of the first control signal C1 can be high relative to the ineffective level, and the effective levels of both the first level signal S1 and the second level signal S2 can also be high. Correspondingly, the logic operation circuit 022 can be used to perform an OR operation on the first input signal T1 and the second input signal T2. Based on this, when either the first input signal T1 or the second input signal T2 is high, the first control signal C1 output by the logic operation circuit 022 is high, i.e., an effective level. When both the first input signal T1 and the second input signal T2 are low, the first control signal C1 output by the logic operation circuit 022 is low, i.e., an ineffective level.

[0085] In this implementation, such as Figure 2 As shown, the logic operation circuit 022 can be an OR gate. Using an OR gate as the logic operation circuit 022 ensures a simpler control system structure and lower cost. It is understood that, besides an OR gate, the logic operation circuit 022 can also be implemented using other combinations of logic gates, as long as it can perform OR operations on multiple input level signals. For example, the logic operation circuit 022 can also include two series NOR gates, or multiple NAND gates.

[0086] As a second optional implementation, the effective level of the first control signal C1 can be low relative to the ineffective level. The logic operation circuit 022 can be used to perform OR and NOT operations sequentially on the first input signal T1 and the second input signal T2. Accordingly, when either the first input signal T1 or the second input signal T2 is high, the first control signal C1 output by the logic operation circuit 022 can be low, i.e., effective. When both the first input signal T1 and the second input signal T2 are low, the first control signal C1 output by the logic operation circuit 022 can be high, i.e., ineffective.

[0087] In this implementation, such as Figure 3 As shown, the logic operation circuit 022 may include OR gates and NOT gates. The input terminals of the OR gates are the input terminals of the logic operation circuit 022, the output terminal of the OR gates is connected to the input terminals of the NOT gates, and the output terminal of the NOT gates is the output terminal of the logic operation circuit 022.

[0088] Understandably, besides Figure 3 Besides the implementation shown, this logic operation circuit 022 can also be implemented using other combinations of logic gates. For example, the OR gate in this logic operation circuit 022 can be replaced by two NOR gates connected in series.

[0089] In this second implementation, if the effective levels of both the first input signal T1 and the second input signal T2 are low, then the logic operation circuit 022 can be an AND gate, or it can include two NAND gates connected in series. Therefore, the logic operation circuit 022 can output a low-level first control signal C1 when any of its received input signals is low, and it can also output a high-level first control signal C1 when all received input signals are high.

[0090] Optionally, such as Figure 4 As shown, the first switch 021 may include a transistor. Alternatively, as... Figure 2 As shown, the first switch 021 may include a field-effect transistor.

[0091] In one example, the transistor is an NPN transistor, whose collector can be used as the first terminal of the first switch 021 to receive the second level signal S2, and whose emitter can be used as the second terminal of the first switch 021 and connected to the second input terminal of the logic operation circuit 022.

[0092] In another example, the transistor is a PNP transistor, whose emitter can be used as the first terminal of the first switch 021 to receive the second level signal S2, and its collector can be used as the second terminal of the first switch 021 and connected to the second input terminal of the logic operation circuit 022.

[0093] In both examples above, the base of the transistor serves as the control terminal, used to couple a control signal to turn the transistor on or off. For example, the base of the transistor can be coupled to the output of another control unit (such as the second control unit 04 described below) to obtain a control voltage, thereby controlling the transistor's on or off state.

[0094] In one example, such as Figure 2 As shown, the field-effect transistor can be an N-type metal-oxide-semiconductor field-effect transistor (MOSFET), or NMOS for short. Its drain can be used as the first terminal of the first switch 021 to receive the second level signal S2, and its source can be used as the second terminal of the first switch 021 and connected to the second input terminal of the logic operation circuit 022.

[0095] In another example, the field-effect transistor is a PMOS transistor, whose source can be used as the first terminal of the first switch 021 to receive the second level signal S2, and whose drain can be used as the second terminal of the first switch 021 and connected to the second input terminal of the logic operation circuit 022.

[0096] In both examples above, the gate of the field-effect transistor (FET) serves as a control terminal, used to couple a control signal to turn the FET on or off. For example, the gate of the FET can be coupled to the output of another control unit (such as the second control unit 04 described below) to obtain a control voltage, thereby controlling the FET to turn on or off.

[0097] Since transistors and field-effect transistors have simple structures and low costs, using transistors or field-effect transistors as the first switch 021 can effectively avoid increasing the structural complexity and cost of the control system.

[0098] In the embodiments of this application, such as Figure 2 As shown, the control system may further include a resistor R0, one end of which is connected to the output of the logic operation circuit 022 and the input of the first controlled unit 03, and the other end of which is grounded. The resistor R0 can be used to stabilize the input level of the first controlled unit 03.

[0099] Optionally, such as Figure 2 As shown, the control system may further include a second control unit 04. The logic operation circuit 022 may also have a third input terminal, and the output terminal of the second control unit 04 is connected to the third input terminal and is used to output a third level signal S3 to the logic operation circuit 022 as the third input signal T3 of the logic operation circuit 022.

[0100] Since the second control unit 04 can output a third-level signal S3 to the logic operation circuit 022, the logic operation circuit 022 can also output a first control signal C1 to the first controlled unit 03 under the action of the third-level signal S3. This effectively improves the flexibility of controlling the first controlled unit 03.

[0101] Understandably, in scenarios where the logic operation circuit 022 also has a third input terminal, the logic operation circuit 022 can perform logical operations on the received first input signal T1, second input signal T2, and third input signal T3. Furthermore, when any one of the first input signal T1, second input signal T2, and third input signal T3 is at a valid level, the first control signal C1 output by the logic operation circuit 022 can be at a valid level. When all three input signals are invalid, the first control signal C1 output by the logic operation circuit 022 can be at an invalid level.

[0102] In this embodiment, the third level signal S3 output by the second control unit 04 after power-on can be an invalid level. That is, when the first control unit 01 is normal, or when the first controlled unit 03 is in a self-locking state, the third level signal S3 will not affect the level of the first control signal C1 output by the logic operation circuit 022.

[0103] If the first control unit 01 fails or abnormally powers down, and the first controlled unit 03 powers down, and if fault location in the control system is required, the second control unit 04 can output a valid third-level signal S3. At this time, the logic operation circuit 022 can output a valid first control signal C1, and the first controlled unit 03 can then be in the target operating state (such as a power-on state) driven by the first control signal C1. This facilitates fault location in the control system.

[0104] The second control unit 04, also known as a processing unit or management unit, can be a device with data processing, management, and control functions. The first control unit 01 can be a device with control functions, which, under the control of the second control unit 04, can control the operating state of other controlled units. For example, the second control unit 04 can send the power-on / off sequence of each unit in the control system to the first control unit 01. Based on this power-on / off sequence, the first control unit 01 can control the power-on / off state of each unit in the control system and perform anomaly detection on each unit.

[0105] For example, the second control unit 04 can be a microprocessor or a microcontroller unit (MCU). The first control unit 01 can be a programmable logic device (PLD) or other control chip with input / output (I / O) interfaces. The PLD can be a complex programmable logical device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0106] For scenarios where the control system also includes a second control unit 04, such as Figure 2As shown, the output terminal of the second control unit 04 can be connected to the third terminal (i.e., the control terminal) of the first switch 021 and used to control the on / off state of the first terminal and the second terminal of the first switch 021. For example, the second control unit 04 can output a switch signal SW0 to the third terminal of the first switch 021, and the first switch 021 can control the on / off state of its first terminal and the second terminal under the action of the switch signal SW0.

[0107] In this embodiment, after power-on, the second control unit 04 can first control the first terminal and the second terminal of the first switch 021 to be connected, so that the first switch 021 outputs the second input signal T2 to the logic operation circuit 022 based on the second level signal S2 output by the first controlled unit 03. After the first control unit 01 fails or is abnormally powered off, if it is necessary to make the first controlled unit 03 exit the target working state, or if it is necessary to locate the fault in the control system, the second control unit 04 can control the first terminal and the second terminal of the first switch 021 to be turned off. At this time, the first switch 021 cannot output the second input signal T2 to the logic operation circuit 022 based on the second level signal S2 output by the first controlled unit 03.

[0108] Figure 4 This is a schematic diagram of another control system provided in an embodiment of this application. For example... Figure 3 As shown, the control system may further include a communication unit 05. The communication unit 05 can be connected to the input terminal of the second control unit 04 and is used to output fault detection commands to the second control unit 04.

[0109] Based on the fault detection command, the second control unit 04 can control the first and second terminals of the first switch 021 to turn off, and output a valid third-level signal S3 as a third input signal T3 to the logic operation circuit 022 in the first isolation unit 02. Thus, the first isolation unit 02, based on the third input signal T3, can output a valid first control signal C1 to the first controlled unit 03, thereby putting the first controlled unit 03 into the target operating state.

[0110] Optionally, continue to refer to Figure 3 The communication unit 05 may include a wired connector 501 and / or a wireless communication module 502. The wired connector 501 may be an automotive connector. The wireless communication module 502 may be a Bluetooth communication module, or a wireless fidelity (Wi-Fi) module, etc.

[0111] For example, the second control unit 04 may be equipped with control software that can control the on / off state of the first switch 021 and the level of the third level signal S3. After the first control unit 01 malfunctions or experiences an abnormal power-off, maintenance personnel can upgrade the control software in the second control unit 04 via the communication unit 05, enabling the second control unit 04 to control the first and second terminals of the first switch 021 to turn off and output a valid third level signal S3. For instance, maintenance personnel can modify the program code in the memory of the second control unit 04 via the communication unit 05 to upgrade the control software.

[0112] The above-mentioned fault location method does not require disassembling the control system and can achieve remote fault location through wireless communication modules, thereby effectively improving the flexibility and convenience of fault location.

[0113] The control units (e.g., the first control unit 01) and the controlled units (e.g., the first controlled unit 03) can belong to different domains (or subsystems), such as a first domain (or subsystem) and a second domain (or subsystem). The second domain is used to provide redundant backups for some or all functions of the first domain to improve product reliability. The control unit controls both the functions in the first domain and the backup functions in the second domain; in this case, the controlled unit is a functional unit, such as a computing unit or processing unit. Alternatively, the control unit controls the power-on of both the functions in the first domain and the backup functions in the second domain; in this case, the controlled unit is a power supply unit. Thus, when the domain in which the control unit resides (e.g., the first domain) fails, the control system, including the aforementioned isolation units, can isolate the impact on the second domain, allowing the second domain to operate normally and improving the stability of the redundant system.

[0114] Taking the first domain as the first power domain and the second domain as the second power domain as an example:

[0115] Figure 5 This is a schematic diagram of another control system provided in an embodiment of this application. Figure 5 As shown, the control system includes a first power domain and a second power domain. The first control unit 01 belongs to the first power domain and can be powered by a power supply unit within that first power domain (i.e., Figure 5 The first power supply unit 06 shown is powered by the power supply.

[0116] The first controlled unit 03 can be a power supply unit of the second power domain (i.e., the second power supply unit 03), and the first control signal C1 can be a first enable signal for controlling the second power supply unit 03 to be powered on or off.

[0117] In this embodiment, the first power domain may further include one or more of the second control unit 04, the first computing unit 08, and the first storage unit 09. The first power supply unit 06 of the first power domain is also used to supply power to one or more of the second control unit 04, the first computing unit 08, and the first storage unit 09.

[0118] As the first possible implementation, such as Figure 5 As shown, the first power domain also includes a first computing unit 08 and a first storage unit 09, and the first power supply unit 06 is also used to supply power to the first computing unit 08 and the first storage unit 09. Furthermore, the control system also includes a third power domain, and the second control unit 04 belongs to this third power domain and can be powered by a power supply unit (i.e., ...) in this third power domain. Figure 5 The third power supply unit 07 shown is used for power supply. That is, in this first implementation, the first control unit 01 and the second control unit 04 belong to different power domains and are powered by two different power supply units.

[0119] In this first implementation, refer to Figure 5 Communication unit 05 can also belong to the third power domain, and correspondingly, the third power supply unit 07 can also be used to power communication unit 05. It is understood that when either the first power supply unit 06 or the third power supply unit 07 fails, the failed power supply unit will be unable to supply power to other functional units in its power domain, leading to abnormal power-off of other functional units. Since in this first implementation, the first control unit 01 and the second control unit 04 are powered by two different power supply units, the situation where a failure of one power supply unit causes both control units to simultaneously fail to power off can be avoided.

[0120] As a second possible implementation, such as Figure 6 As shown, the first power supply unit 06 of the first power domain is also used to supply power to the second control unit 04. That is, the first control unit 01 and the second control unit 04 can both belong to the first power domain.

[0121] refer to Figure 6 As can be seen, in this second implementation, the first power domain to which the first control unit 01 and the second control unit 04 belong may not include computing units and storage units. That is, the two control units in this control system can be deployed in an independent power domain and can uniformly manage and control computing units and storage units in other power domains.

[0122] Optionally, such as Figure 5 and Figure 6 As shown, the second power domain may further include: a second computing unit 10 and / or a second storage unit 11. For example, Figure 5 and Figure 6 The second power domain shown includes a second computing unit 10 and a second storage unit 11. The second power supply unit 03 (i.e., the first controlled unit 03) in the second power domain can also be used to supply power to the second computing unit 10 and / or the second storage unit 11.

[0123] Understandably, when the first enable signal output by the first isolation unit 02 is at an active level, the second power supply unit 03 is powered on and supplies power to other functional units in the second power domain (e.g., the second computing unit 10 and the second storage unit 11), so that each functional unit in the second power domain can be in a working state. When the first enable signal output by the first isolation unit 02 is at an inactive level, the second power supply unit 03 is powered off, and each functional unit in the second power domain is also powered off.

[0124] It is also understandable that, in addition to Figure 5 and Figure 6 In addition to the functional units shown, the first power domain, the second power domain, and the third power domain may also include other functional units. Furthermore, each functional unit in the first power domain can be powered by the first power supply unit 06, each functional unit in the second power domain can be powered by the second power supply unit 03, and each functional unit in the third power domain can be powered by the third power supply unit 07.

[0125] It is also understood that the various storage units in this control system can be used to store data, and the various computing units can be used to process the data stored in the storage units. For example, assuming that the control system is an autonomous driving module in a vehicle, the storage units can be used to store data collected by the onboard sensor components, and the computing units can be used to process the data collected by the onboard sensor components based on the stored autonomous driving calculations. The various power supply units in this control system are used to provide DC voltage to the various functional units in their respective power domains, and therefore can also be called DC power supplies.

[0126] As a first possible example, the multiple power domains in this control system can have identical functions and can serve as backups for each other. Based on this, if any power domain fails, or if the storage and / or computing units in any power domain malfunction, the storage and computing units in other power domains can continue to operate normally. This effectively improves the reliability of the control system.

[0127] As a second possible example, the multiple power domains in this control system can have different functions. At least one power domain can be a primary power domain, where the storage and computing units implement the main functions of the control system. The other power domains can be secondary power domains, where the storage and computing units implement secondary functions of the control system. For example, assuming the control system is an autonomous driving module in a vehicle, the computing and storage units in the primary power domain can implement the main autonomous driving functions, while the computing and storage units in the secondary power domains can implement secondary functions such as parallel parking and lane-keeping.

[0128] In this second possible example, if the first control unit 01 and the second control unit 04 belong to different power domains, then the first control unit 01 can belong to the main power domain (e.g., Figure 5 The first power domain shown. Accordingly, the first isolation unit 02 can realize the main power domain and the auxiliary power domain (e.g., the first power domain). Figure 5 The auxiliary power domain (shown as a second power domain) is used for fault isolation. Therefore, even after the first control unit 01 fails or abnormally powers down, this auxiliary power domain can still perform auxiliary functions of the control system (such as enabling parking at the side of the road), thus preventing the control system from completely losing control and creating safety hazards.

[0129] Understandably, after the auxiliary power domain completes its auxiliary functions, the second control unit 04 can control the first switch 021 in the first isolation unit 02 to turn off, thereby powering down the auxiliary power domain. Furthermore, the second control unit 04 can also control the power supply units in other power domains to power down, thereby powering down the control system.

[0130] Figure 7 This is a schematic diagram of the structure of a second power supply unit provided in an embodiment of this application. Figure 7 As shown, the second power supply unit 03 may include a first voltage conversion unit 031 and a second voltage conversion unit 032. The first voltage conversion unit 031 can be connected to the battery assembly and can convert the voltage of the battery assembly before outputting it. The second voltage conversion unit 032 can convert the voltage output by the first voltage conversion unit 031 before outputting it. Thus, these two voltage conversion units can provide different driving voltages for the functional units in the second power domain. For example, assuming that the driving voltage required by the second computing unit 10 in the second power domain is different from the driving voltage required by the second storage unit 11, then the second computing unit 10 and the second storage unit 11 can be driven by different voltage conversion units in the second power supply unit 03.

[0131] refer to Figure 4The control system may further include a second isolation unit 12. The first isolation unit 02 is used to output a first control signal C1 (i.e. a first enable signal) to the first voltage conversion unit 031 in the second power supply unit 03. The first enable signal can be used to control the first voltage conversion unit 031 to be powered on or off.

[0132] The first control unit 01 can also be connected to the second isolation unit 12 and is used to output a fourth level signal S4 to the second isolation unit 12. The second isolation unit 12 has an input terminal and an output terminal. The second isolation unit 12 is used to receive the fourth level signal S4 through its input terminal and, under the action of the fourth level signal S4, output a second control signal (also called a second enable signal) to the second voltage conversion unit 032 through its output terminal. The second enable signal can be used to control the second voltage conversion unit 032 to power on or off.

[0133] In this embodiment, if the fourth level signal S4 output by the first control unit 01 is invalid, the second enable signal output by the second isolation unit 12 can be valid. Correspondingly, the second voltage conversion unit 032 is powered on. If the fourth level signal S4 is valid, the second enable signal output by the second isolation unit 12 can be invalid. Correspondingly, the second voltage conversion unit 032 is powered off. The valid level of the fourth level signal S4 can be high relative to the invalid level.

[0134] When the first control unit 01 malfunctions or experiences an abnormal power-down, it will be unable to output the valid fourth-level signal S4, thus the input of the second isolation unit 12 will remain at an invalid level. At this time, the second isolation unit 12 can continue to output a valid second-level enable signal to the second voltage conversion unit 032, ensuring that the second voltage conversion unit 032 remains powered on. Therefore, the malfunction or abnormal power-down of the first control unit 01 can be prevented from affecting the power-on state of the second voltage conversion unit 032, effectively achieving fault isolation between the first control unit 01 and the second voltage conversion unit 032.

[0135] For example, the first control unit 01 can output a first control signal C1 with an effective level and a fourth level signal S4 with an effective level after power-on. The second isolation unit 12 can output a second enable signal with an invalid level under the action of the fourth level signal S4 with an effective level, so as to keep the second voltage conversion unit 032 in a powered-off state. The first isolation unit 02 can output a first enable signal with an effective level to the first voltage conversion unit 031 under the action of the first control signal C1 with an effective level, so as to drive the first voltage conversion unit 031 to power on.

[0136] like Figure 4 As shown, the first control unit 01 can also monitor the power supply of the first voltage conversion unit 031, and after detecting that the first voltage conversion unit 031 has completed power-on (power good), it can output an invalid level fourth level signal S4 to the second isolation unit 12. The second isolation unit 12 can then output an effective level second enable signal under the action of the invalid level fourth level signal S4 to drive the second voltage conversion unit 032 to power on.

[0137] Optionally, such as Figure 4 As shown, the second isolation unit 12 may include a second switch 121, which has a first terminal, a second terminal, and a third terminal. The first terminal of the second switch 121 serves as the input terminal of the second isolation unit 12, used to receive a fourth level signal S4, which controls the on / off state of the second terminal and the third terminal of the second switch 121. The second terminal of the second switch 121 serves as the output terminal of the second isolation unit 12, connected to both the power supply terminal and the input terminal of the second voltage conversion unit 032. The third terminal of the second switch 121 is connected to the ground terminal.

[0138] The power supply terminal can be the output terminal of the first voltage conversion unit 031. When the fourth level signal S4 is active, the second and third terminals of the second switch 121 are connected. At this time, since both the power supply terminal and the input terminal of the second voltage conversion unit 032 are connected to the ground terminal, the second voltage conversion unit 032 is in a powered-off state. When the fourth level signal S4 is inactive, the second and third terminals of the second switch 121 are turned off. At this time, since the input terminal of the second voltage conversion unit 032 is connected to the power supply terminal, the second voltage conversion unit 032 can remain powered on under the drive of the power supply terminal.

[0139] If the first control unit 01 malfunctions or experiences an abnormal power outage, the fourth level signal S4 received by the first terminal of the second switch 121 can remain at an invalid level. Correspondingly, the second and third terminals of the second switch 121 can remain in the off state, thereby ensuring that the second voltage conversion unit 032 can remain powered on under the drive of the power supply.

[0140] In one example, such as Figure 4 As shown, the second switch 121 may include a field-effect transistor (FET), which may be an NMOS transistor. The gate of the FET can serve as the first terminal (i.e., the control terminal) of the second switch 121, used to receive the fourth level signal S4. The drain of the FET can serve as the second terminal of the second switch 121, connected to both the power supply terminal and the input terminal of the second voltage conversion unit 032. The source of the FET can serve as the third terminal of the second switch 121, connected to the ground terminal.

[0141] In another example, such as Figure 8 As shown, the second switch 121 may include a transistor, and the transistor may be an NPN transistor. The base of the transistor can serve as the first terminal of the second switch 121 for receiving the fourth level signal S4. The collector of the transistor can serve as the second terminal of the second switch 121, and is connected to the power supply terminal and the input terminal of the second voltage conversion unit 032, respectively. The emitter of the transistor can serve as the third terminal of the second switch 121 and is connected to the ground terminal.

[0142] Optionally, the field-effect transistor in the second switch 121 can also be a PMOS, and the transistor in the second switch 121 can also be a PNP transistor. This application embodiment does not limit this.

[0143] from Figure 4 and Figure 8 It can be seen that the second isolation unit 12 may further include a first resistor R1 and a second resistor R2. One end of the first resistor R1 is connected to the first terminal of the second switch 121, and the other end of the first resistor R1 is connected to the ground terminal. The first resistor R1 is used to stabilize the voltage level of the first terminal of the second switch 121. The second resistor R2 is connected in series between the power supply terminal and the second terminal of the second switch 121; that is, the second terminal of the second switch 121 is connected to the power supply terminal through the second resistor R2. The second resistor R2 is a pull-up resistor used to pull up the voltage level of the second terminal of the second switch 121.

[0144] Continue to refer to Figure 8 The second isolation unit 12 may further include a third resistor R3, which is connected in series between the output terminal of the first control unit 01 and the first terminal of the second switch 121. The third resistor R3 can be used to control the current at the first terminal of the second switch 121, for example, to control the base current of a transistor. The third resistor R3 and the first resistor R1 can also form a voltage divider circuit to adjust the voltage level at the first terminal of the second switch 121.

[0145] in, Figure 4 The connection method of the field-effect transistor in the second isolation unit 12 shown can also be called an open-drain (OD) output structure. Figure 8 The transistor connection method in the second isolation unit 12 shown can also be called an open-collector (OC) output structure. Based on this OD output structure or OC output structure, fault isolation of the first control unit 01 can be achieved.

[0146] The above explanation uses the second power supply unit 03, which includes two voltage conversion units, as an example. It can be understood that the second power supply unit 03 can include more than two voltage conversion units. For example... Figure 8 As shown, the second power supply unit 03 may include n cascaded voltage conversion units, where n is an integer greater than 1. The first voltage conversion unit (i.e., the first voltage conversion unit 031) of these n voltage conversion units can be connected to the battery assembly and can convert and output the voltage provided by the battery assembly. Each of the second to nth voltage conversion units can be used to convert and output the voltage output by the previous stage or several stages of voltage conversion units.

[0147] Furthermore, refer to Figure 8 The control system may include a plurality of second isolation units 12 corresponding one-to-one with the second to nth voltage conversion units. Each second isolation unit 12 is connected to a corresponding voltage conversion unit and is used to output a second enable signal to the corresponding voltage conversion unit under the action of the fourth level signal S4 provided by the first control unit 01. It is understood that Figure 8 The power supply terminal connected to each second isolation unit 12 can be the output terminal of the previous stage or several previous voltage conversion units.

[0148] For example, the first control unit 01 can output an invalid fourth-level signal S4 to the second isolation unit 12 corresponding to the next voltage conversion unit after detecting that any voltage conversion unit has been powered on, so as to power on the next voltage conversion unit. In this way, the n cascaded voltage conversion units in the second power supply unit 03 can be powered on sequentially.

[0149] It is also understandable that, in the scenario where the second power supply unit 03 includes n voltage conversion units, the second level signal S2 can be output by any of the n voltage conversion units after power-on.

[0150] In this embodiment, the control system can have multiple different operating modes. The first control unit 01 can be used to output a first level signal S1 and a fourth level signal S4 according to the operating mode of the control system. The operating modes of the control system may include a normal operating mode, a sleep mode, and a shallow sleep mode, etc.

[0151] As analyzed above, by controlling the levels of the first level signal S1 and the fourth level signal S4, the power-on and power-off states of each voltage conversion unit in the second power supply unit 03 can be controlled. Therefore, the first control unit 01 can control different voltage conversion units in the second power supply unit 03 to power on when the control system is in different operating modes, thereby effectively reducing the power consumption of the control system without affecting its performance.

[0152] In normal operating mode, the first control unit 01 can output a valid first level signal S1, and after detecting that the first voltage conversion unit 031 has been powered on, it can output an invalid fourth level signal S4. This ensures that all voltage conversion units in the second power supply unit 03 are powered on normally, thereby enabling all functional units (such as the second computing unit 10 and the second storage unit 11) in the second power domain to which the second power supply unit 03 belongs to operate normally.

[0153] In sleep mode, the first level signal S1 output by the first control unit 01 can be an invalid level, thereby keeping the first voltage conversion unit 031 in the second power supply unit 03 powered down. Since the first voltage conversion unit 031 is powered down, the other voltage conversion units in the second power supply unit 03 are also powered down. At this time, all functional units in the second power domain to which the second power supply unit 03 belongs are powered down.

[0154] In shallow sleep mode, the first level signal S1 and the fourth level signal S4 output by the first control unit 01 can be valid. This allows the first voltage conversion unit 031 in the second power supply unit 03 to remain powered on, and the second voltage conversion unit 032 in the second power supply unit 03 to remain powered off. At this time, in the second power domain to which the second power supply unit 03 belongs, the functional units driven by the first voltage conversion unit 031 (e.g., the second storage unit 11) can remain operational, while the functional units driven by the second voltage conversion unit 032 (e.g., the second computing unit 10) can be powered off.

[0155] It is understandable that if the second power supply unit 03 includes more than two voltage conversion units, then in shallow sleep mode, the first control unit 01 can control some of the voltage conversion units to power on and others to power off, according to the needs of the application scenario. This allows only some functional units in the second power domain to which the second power supply unit 03 belongs to be in operation.

[0156] It is also understandable that, under normal operating conditions, all power domains of this control system can be powered on. For example, refer to... Figure 5 The first power supply unit 06, the second power supply unit 03, and the third power supply unit 07 are all powered on, and correspondingly, each functional unit in the first power domain, the second power domain, and the third power domain is in normal working condition.

[0157] Continue to refer to Figure 5The third power domain to which the second control unit 04 belongs may also include a wake-up unit 13. This wake-up unit 13 may be a controller area network (CAN) wake-up module. In sleep mode, only the wake-up unit 13 can be powered on, while all other functional units in the control system can be powered off. Correspondingly, in sleep mode, only the voltage conversion unit in the third power supply unit 07 used to drive the wake-up unit 13 is powered on; the other voltage conversion units in the third power supply unit 07, the first power supply unit 06, and the second power supply unit 03 can all remain powered off.

[0158] In shallow sleep mode, the wake-up unit 13, the first control unit 01, and the storage units in each power domain can all be powered on, while all other functional units can be powered off. Correspondingly, in shallow sleep mode, the voltage conversion unit in the third power supply unit 07 used to drive the wake-up unit 13 can be powered on, the voltage conversion unit in the first power supply unit 06 used to drive the first control unit 01 can be powered on, and the voltage conversion units in each power supply unit used to drive the storage units can be powered on.

[0159] The above description uses the example of the first controlled unit 03 being the second power supply unit in the second power domain. In one possible example, the first controlled unit 03 can also be a computing unit, and the first control signal C1 can be a reset signal used to control the reset of the computing unit. The computing unit and the first control unit 01 can belong to the same power domain or different power domains.

[0160] For example, refer to Figure 5 The first controlled unit 03 can be the first computing unit 08, which belongs to the same first power domain as the first control unit 01. Alternatively, refer to... Figure 5 and Figure 6 The first controlled unit 03 can also be the second computing unit 10 in the second power domain.

[0161] Optionally, such as Figure 6 As shown, the control system may further include a third isolation unit 14 and a second controlled unit 15. The first control unit 01 may also be connected to the third isolation unit 14 and used to output a fifth level signal S5 to the third isolation unit 14.

[0162] The third isolation unit 14 has a first input terminal, a second input terminal, and an output terminal. The third isolation unit 14 is used to receive the fifth level signal S5 and the sixth level signal S6 through its first input terminal and the second input terminal, respectively, and to output the third control signal C3 to the second controlled unit 15 through its output terminal.

[0163] The second controlled unit 15 is used to output the sixth level signal S6 to the second input terminal of the third isolation unit 14 under the action of the third control signal C3.

[0164] The structure and working principle of the third isolation unit 14 are the same as those of the first isolation unit 02, and will not be described again here. Furthermore, from... Figure 6 It can be seen that the second control unit 04 can also be connected to the third isolation unit 14, and can output a seventh-level signal S7 to the logic operation circuit in the third isolation unit 14, and output a switch signal SW1 to the first switch in the third isolation unit 14. The switch signal SW1 can control the on / off state of the first terminal and the second terminal of the first switch in the third isolation unit 14.

[0165] It is understandable that the second controlled unit 15 and the first controlled unit 03 may belong to different power domains. For example, refer to... Figure 6 The first controlled unit 03 (i.e., the second power supply unit 03) belongs to the second power domain, while the second controlled unit 15 belongs to the third power domain. Alternatively, the two controlled units may belong to the same power domain, which is not limited in this embodiment.

[0166] Optionally, such as Figure 6 As shown, the second controlled unit 15 can be a power supply unit in a third power domain, and the third power domain may further include a third computing unit 16 and / or a third storage unit 17. The second controlled unit 15 can be used to supply power to the third computing unit 16 and / or the third storage unit 17.

[0167] If the power supply unit in the third power domain also includes multiple cascaded voltage conversion units, the control system may further include at least one fourth isolation unit. Each fourth isolation unit is used to achieve fault isolation between the first control unit 01 and a voltage conversion unit. The structure and operating principle of this fourth isolation unit can be the same as the second isolation unit 12 described above, and will not be repeated here.

[0168] It is also understood that the number of controlled units included in the control system can be greater than two. Furthermore, for each controlled unit, the control system is equipped with a corresponding isolation unit to achieve fault isolation of the first control unit 01. The structure and working principle of the isolation unit corresponding to each controlled unit can be referred to the first isolation unit 02, and will not be elaborated further in this embodiment.

[0169] Figure 9 This is a schematic diagram of another control system provided in an embodiment of this application. Figure 9As shown, the various units in this control system can be integrated onto a single board, for example, onto a printed circuit board (PCB). That is, the control system provided in this embodiment can be a single board.

[0170] refer to Figure 9 Each power supply unit in this control system may include a buck-boost circuit. For example, the voltage conversion unit described above may include this buck-boost circuit. Furthermore, each power supply unit may also include a combining chip for combining the voltages supplied by multiple batteries in the battery pack, and a soft-start chip for implementing soft start.

[0171] Continue to refer to Figure 9 The communication unit 05 in the third power domain to which the second control unit 04 belongs can be a network switching chip, the second control unit 04 can be a microprocessor, and the wake-up unit 13 can be a CAN chip. The first control unit 01 can be a CPLD. The computing units in each power domain (e.g., the first computing unit 08 and the second computing unit 10) can all be system-on-chip (SOC), and the storage units (e.g., the first storage unit 09 and the second storage unit 11) can all include double data rate synchronous dynamic random access memory (DDR SDRAM) and embedded multimedia card (EMMC), etc.

[0172] Optionally, such as Figure 9 As shown, the first and second power domains may also include a CAN chip. Furthermore, the first power domain may also include a video enumerator / deserializer.

[0173] In summary, the embodiments of this application provide a control system in which a first isolation unit can receive a first-level signal output by a first control unit and a second-level signal output by a first controlled unit, and can output a first control signal to the first controlled unit. The first controlled unit can output a second-level signal to the first isolation unit under the action of the first control signal. Therefore, even if the first control unit fails, the first isolation unit can continue to output the first control signal to the first controlled unit based on the second-level signal output by the first controlled unit. This achieves isolation of the first control unit from failure, i.e., decoupling of the first control unit and the first controlled unit, thereby effectively improving the reliability of the control system.

[0174] This application also provides a control device. For example... Figure 10 As shown, the control device includes a control unit 21 and an isolation unit 22. The control unit 21 is connected to the isolation unit 22 and is used to output a first level signal S1 to the isolation unit 22.

[0175] The isolation unit 22 has a first input terminal, a second input terminal, and an output terminal. The isolation unit 22 is used to receive a first level signal S1 through its first input terminal and to receive a signal from the controlled unit (S1) through its second input terminal. Figure 10 The output terminal shows a second-level signal S2, and a first control signal C1 is output to the controlled unit through this output terminal. The first control signal C1 is used to control the controlled unit to output the second-level signal S2.

[0176] The structure and working principle of the control unit 21 can be referred to the previous description of the first control unit 01, and the structure and working principle of the isolation unit 22 can be referred to the previous description of the first isolation unit 02. The embodiments of this application will not be repeated here.

[0177] It is understood that in the control system provided in the above embodiments, the first isolation unit 02 and the first control unit 01 can be independent of each other. That is, the first isolation unit 02 can be a discrete device. Furthermore, the second isolation unit 12 and the third isolation unit 14 in the control system can also be discrete devices. Figure 10 In the control device shown, the isolation unit 22 and the control unit 21 can be integrated, for example, they can be integrated in a CPLD.

[0178] Figure 11 This is a schematic diagram of another control device provided in an embodiment of this application. Figure 11 As shown, the control device includes a first control unit 31, a second control unit 32, and a latching unit 33. The first control unit 31 is connected to the latching unit 33 and outputs a first level signal X1 to the latching unit 33. The second control unit 32 is also connected to the latching unit 33 and outputs a second level signal X2 to the latching unit 33.

[0179] The latch unit 33 has a first input terminal, a second input terminal, and an output terminal. The latch unit 33 receives a first level signal X1 and a second level signal X2 through its first and second input terminals, respectively. Under the action of the first level signal X1, it samples and latches the second level signal X2, and outputs the signal to the controlled unit (…). Figure 11 (Not shown in the image) Output latch signal.

[0180] The first level signal X1 output by the first control unit 31 may include at least one target jump edge. This target jump edge can be a rising edge transitioning from a low level to a high level, or a falling edge transitioning from a high level to a low level. The level of the second level signal X2 output by the second control unit 32 can be an active level.

[0181] The latch unit 33 can sample and latch the level of the second level signal X2 when the first level signal X1 has a target jump edge, and output the latched second level signal X2. Since the first level signal X1 output by the first control unit 31 will not have a target jump edge when the first control unit 31 fails or is abnormally powered down, the first level signal X1 will not trigger the latch unit 33 to adjust the level of its output signal, and the controlled unit can thus continue to maintain its previous operating state. In other words, the latch unit 33 can prevent the failure of the first control unit 31 from affecting the operating state of the controlled unit, achieving isolation of the failure of the first control unit 31.

[0182] Understandably, if the target jump edge is a falling edge transitioning from a high level to a low level, then when the first control unit 31 fails or is abnormally powered down, the first level signal X1 can remain at a low level. If the target jump edge is a rising edge transitioning from a low level to a high level, then when the first control unit 31 fails or is abnormally powered down, the first level signal X1 can first transition from a high level to a low level (i.e., a falling edge appears in the first level signal X1), and then remain at the low level. Neither the low level of the first level signal X1 nor the falling edge of the first level signal X1 will trigger the latch unit 33 to adjust the level of its output signal; that is, the latch unit 33 will not respond to the low level or the falling edge.

[0183] In this embodiment, if the signal output by the latch unit 33 is valid, the controlled unit can maintain the target operating state under the influence of the valid level, for example, the controlled unit can maintain a power-on state or a reset state. If the signal output by the latch unit 33 is invalid, the controlled unit can exit the target operating state, for example, the controlled unit can be in a power-off state.

[0184] Optionally, such as Figure 11 As shown, the latch unit 33 may include an edge-triggered trigger 331. This edge-triggered trigger 331 can sample and latch the level (active level) of the second level signal X2 when a target edge exists in the first level signal X1, and output the latched signal. For example, the edge-triggered trigger 331 may be a D flip-flop, an edge-triggered JK flip-flop, or a complementary metal-oxide-semiconductor (CMOS) edge-triggered trigger, etc.

[0185] Continue to refer to Figure 11 The latch unit 33 may also have a power supply terminal, and the second control unit 32 is also connected to the power supply terminal of the latch unit 33 and is used to output a power control signal X0 (also known as an enable signal) to the latch unit 33 to control the power-on and power-off states of the latch unit 33.

[0186] For example, after power-on, the second control unit 32 can output a valid power control signal X0 to the latch unit 33 to control the latch unit 33 to power on, and output a valid second level signal X2 to the latch unit 33. After power-on, the first control unit 31 can output a first level signal X1 with a target edge (e.g., rising edge) to the latch unit 33. The latch unit 33 can then output a valid signal to keep the controlled unit in the target working state. When the first control unit 31 fails or abnormally powers down, the latch unit 33 can continue to output a valid signal, and the controlled unit can continue to maintain the target working state. At this time, if the controlled unit needs to exit the target working state, the second control unit 32 can output an invalid power control signal X0 to the latch unit 33 to control the latch unit 33 to power down. As a result, the latch unit 33 can no longer output a valid signal, and the controlled unit can then exit the target working state, for example, the controlled unit can power down.

[0187] It is understood that the structure and working principle of the first control unit 31, the second control unit 32, and the controlled unit can all refer to the relevant descriptions in the foregoing embodiments, and will not be repeated here. Wherein, if the controlled unit is a power supply unit in a certain power domain, and the power supply unit includes multiple voltage conversion units, the control device may also include an isolation unit, which can achieve fault isolation between the first control unit 31 and the voltage conversion units. The structure and working principle of the isolation unit can refer to the relevant descriptions of the second isolation unit 12 in the foregoing embodiments, and will not be repeated here.

[0188] It is also understood that the control device may include multiple controlled units. For each controlled unit, the control device is equipped with a corresponding latch unit 33 to isolate faults in the first control unit 31.

[0189] It is also understood that the latch unit 33 of the control device can be set independently of the first control unit 31 and the second control unit 32, that is, the latch unit 33 can be a discrete device. Alternatively, the latch unit 33 can also be integrated with the first control unit 31, for example, the two can be integrated into a CPLD.

[0190] The control unit (e.g., the first control unit 31) and the controlled unit can belong to different domains (or subsystems), such as a first domain (or subsystem) and a second domain (or subsystem). The second domain is used to provide redundant backup for some or all functions of the first domain to improve product reliability. The control unit controls both the functions in the first domain and the backup functions in the second domain; in this case, the controlled unit is a functional unit, such as a computing unit or processing unit. Alternatively, the control unit controls the power-on of both the functions in the first domain and the backup functions in the second domain; in this case, the controlled unit is a power supply unit. Thus, when the domain in which the control unit resides (e.g., the first domain) fails, the control system, including the aforementioned isolation units, can isolate the impact on the second domain, allowing the second domain to operate normally and improving the stability of the redundant system.

[0191] In summary, the embodiments of this application provide a control device in which a latching unit can sample and latch a second-level signal output by a second control unit under the action of a first-level signal output by a first control unit, and can output a latched signal to the controlled unit. Therefore, even if the first control unit fails, the latching unit can continue to output a latched signal to the first controlled unit. This achieves isolation of the first control unit from failure, effectively improving the reliability of the control device.

[0192] This application also provides a control system, which may include the control device provided in the above embodiments and the controlled unit. The structure of the control device may be as follows: Figure 10 or Figure 11 As shown.

[0193] This application also provides a central computing platform, which includes a control system as described in the above embodiments, and at least one interface. The at least one interface may include one or more of a power interface, an Ethernet interface, and a sensor interface. Optionally, the central computing platform may be an intelligent central computing model (ICCM), and may be a box-type device.

[0194] This central computing platform could be, for example, a high-performance central computing platform (HCCP). Figure 12 As shown, the central computing platform 100 may include: an intelligent central computing module 101 and an intelligent enhanced entertainment model (IEEM) 102.

[0195] Optionally, such as Figure 12 As shown, the intelligent enhanced entertainment module 102 can also be a box-type device. Alternatively, the intelligent central computing module 101 and the intelligent enhanced entertainment module 102 can be integrated into a single box-type device.

[0196] Taking the central computing platform 100 as an example, which can provide autonomous driving functions, this application embodiment also provides an autonomous driving system, such as... Figure 13 As shown, the autonomous driving system 1000 may include: a central computing platform 100 as provided in the above embodiments, an onboard sensor assembly 200, and an onboard actuator assembly 300. The central computing platform 100 processes data collected by the onboard sensor assembly 200 and controls the onboard actuator assembly 300 to perform autonomous driving operations. For example, the autonomous driving system 1000 can achieve any level of autonomous driving functionality from Level 2 (L2) to Level 5 (L5).

[0197] Optionally, refer to Figure 5 and Figure 6 The vehicle-mounted sensor assembly 200 may include at least one of the following sensors: camera, lidar, millimeter-wave radar, and ultrasonic radar. The vehicle-mounted actuator assembly 300 may include at least one of the following devices: accelerator pedal, brake pedal, steering system, motor, valve, switch, and relay.

[0198] To improve the safety and reliability of autonomous driving systems in vehicles, these systems are generally implemented using a multi-control domain (also known as a power domain) approach. Furthermore, each control domain in the autonomous driving system is independent of the others; a failure or power outage in one control domain will not affect the normal operation of other control domains. Each control domain may include a power supply unit, a storage unit, a computing unit, a control unit, and a processing unit. However, while this multi-control domain approach offers high reliability, it is also structurally complex, larger in size, and more expensive.

[0199] In the embodiments of this application, reference is made to Figure 5 and Figure 6 It is understood that the control system of this autonomous driving system can control at least two domains through a single control unit, such as the first control unit 01, thus saving costs without affecting product reliability. For example, the first control unit 01 and / or the second control unit 04 can uniformly control the controlled units in multiple power domains, meaning that each power domain can share a single first control unit 01 and / or a single second control unit 04. This reduces the number of control units required, effectively lowering the size, structural complexity, and cost of the control system.

[0200] Furthermore, since the control system provided in this application embodiment also includes an isolation unit or a latching unit, the fault of the first control unit can be isolated from the controlled unit, thereby effectively ensuring the reliability of the control system during operation.

[0201] This application also provides a vehicle that may include the control system provided in the above embodiments, for example, it may include such a control system as... Figure 13 The illustrated autonomous driving system 1000. The vehicle can include road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or recreational equipment. For example, the vehicle can be a vehicle, in a broad sense, including transportation vehicles (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawnmowers, harvesters, etc.), amusement equipment, or toy vehicles. This application does not specifically limit the type of vehicle. Furthermore, the vehicle can be an airplane or a ship.

[0202] Optionally, such as Figure 5 , Figure 6 and Figure 13 As shown, the vehicle may also include a battery assembly 2000 for supplying power to a power supply unit in the control system.

[0203] Optionally, such as Figure 5 and Figure 6 As shown, the battery assembly 2000 may include multiple batteries, for example Figure 5 and Figure 6 The diagram shows two batteries, battery 1 and battery 2. These batteries can all be used to power various power supply units in the control system. By using multiple batteries, it can be ensured that even if one battery fails, the others can continue to power the control system, thus effectively improving reliability.

[0204] In this application, the term "at least one" means one or more, and the term "multiple" means two or more. The use of "and / or" as mentioned herein indicates that three relationships can exist; for example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0205] The above description is merely an embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control system, characterized by, include: A first control unit, a first isolation unit, and a first controlled unit; The first control unit is connected to the first isolation unit and is used to output a first level signal to the first isolation unit; The first isolation unit includes: a first switch and a logic operation circuit, wherein the first switch has a first terminal and a second terminal, and the logic operation circuit has a first input terminal, a second input terminal and an output terminal; The first input terminal of the logic operation circuit is used to receive the first level signal as the first input signal; The first end of the first switch is used to receive a second level signal, and the second end of the first switch is connected to the second input end of the logic operation circuit. When the first switch is turned on, the second level signal is transmitted to the second input end of the logic operation circuit as the second input signal of the logic operation circuit. The logic operation circuit is used to perform logical operations on the first input signal and the second input signal, and outputs a first control signal to the first controlled unit through the output terminal; The first controlled unit is used to output the second level signal to the first terminal of the first switch under the action of the first control signal.

2. The control system of claim 1, wherein, The logic operation circuit is used to perform an OR operation on the first input signal and the second input signal.

3. The control system according to claim 2, characterized in that, The logic operation circuit is an OR gate.

4. The control system according to any one of claims 1 to 3, characterized in that, The first switch includes a transistor or a field-effect transistor.

5. The control system according to any one of claims 1 to 4, characterized in that, Also includes: Second control unit; The logic operation circuit also has a third input terminal, and the output terminal of the second control unit is connected to the third input terminal and is used to output a third level signal to the logic operation circuit as the third input signal of the logic operation circuit.

6. The control system according to any one of claims 1 to 4, characterized in that, Also includes: Second control unit; The first switch also has a third terminal, and the output terminal of the second control unit is connected to the third terminal of the first switch and is used to control the on / off state of the first terminal and the second terminal of the first switch.

7. The control system according to claim 5 or 6, characterized in that, Also includes: Communication unit; The communication unit is connected to the input terminal of the second control unit and is used to output fault detection commands to the second control unit.

8. The control system according to any one of claims 1 to 7, characterized in that, The control system includes a first domain and a second domain, wherein the second domain is used to provide redundant backup for some or all of the functions of the first domain, the first control unit belongs to the first domain, and the first controlled unit belongs to the second domain.

9. The control system according to any one of claims 1 to 8, characterized in that, The control system includes a first power domain and a second power domain, wherein the first control unit belongs to the first power domain. The first controlled unit is the power supply unit of the second power domain, and the first control signal is used to control the power supply unit of the second power domain to be powered on or off.

10. The control system according to claim 9, characterized in that, The first control unit is powered by the power supply unit of the first power domain.

11. The system according to claim 10, characterized in that, The first power domain further includes one or more of the second control unit, the first computing unit, and the first storage unit, and the power supply unit of the first power domain is also used to supply power to one or more of the second control unit, the first computing unit, and the first storage unit.

12. The control system according to any one of claims 9 to 11, characterized in that, The second power domain further includes: a second computing unit and / or a second storage unit; The power supply unit of the second power domain is used to supply power to the second computing unit and / or the second storage unit.

13. The control system according to any one of claims 9 to 12, characterized in that, The power supply unit of the second power domain includes: a first voltage conversion unit and a second voltage conversion unit; the control system further includes: a second isolation unit; The first isolation unit is used to output the first control signal to the first voltage conversion unit; The first control unit is also connected to the second isolation unit and is used to output a fourth level signal to the second isolation unit; The second isolation unit has an input terminal and an output terminal. The second isolation unit is used to receive the fourth level signal through its input terminal and, under the action of the fourth level signal, output a second control signal to the second voltage conversion unit through its output terminal. The second control signal is used to control the second voltage conversion unit to power on or power off.

14. The control system according to claim 13, characterized in that, The second isolation unit includes: a second switch having a first terminal, a second terminal, and a third terminal; The first terminal of the second switch serves as the input terminal of the second isolation unit, used to receive the fourth level signal. The fourth level signal is used to control the on / off state of the second and third terminals of the second switch. The second terminal of the second switch serves as the output terminal of the second isolation unit, connected to the power supply terminal and the input terminal of the second voltage conversion unit respectively. The third terminal of the second switch is connected to the ground terminal.

15. The control system according to claim 14, characterized in that, The first terminal of the second switch is grounded through the first resistor, and the second terminal of the second switch is connected to the power supply terminal through the second resistor.

16. The control system according to claim 14 or 15, characterized in that, The second switch includes a transistor or a field-effect transistor.

17. The control system according to any one of claims 1 to 16, characterized in that, It also includes: a third isolation unit and a second controlled unit; The first control unit is also connected to the third isolation unit and is used to output a fifth level signal to the third isolation unit; The third isolation unit has a first input terminal, a second input terminal, and an output terminal. The third isolation unit is used to receive the fifth level signal and the sixth level signal through its first input terminal and its second input terminal, respectively, and to output a third control signal to the second controlled unit through its output terminal. The second controlled unit is used to output the sixth level signal to the second input terminal of the third isolation unit under the action of the third control signal.

18. A control device, characterized in that, include: Control unit and isolation unit; The control unit is connected to the isolation unit and is used to output a first level signal to the isolation unit; The isolation unit includes a switch and a logic operation circuit. The switch has a first terminal and a second terminal, and the logic operation circuit has a first input terminal, a second input terminal, and an output terminal. The first input terminal of the logic operation circuit is used to receive the first level signal as the first input signal; The first end of the switch is used to receive a second level signal, and the second end of the switch is connected to the second input end of the logic operation circuit. When the switch is turned on, the second level signal is transmitted to the second input end of the logic operation circuit as the second input signal of the logic operation circuit. The logic operation circuit is used to perform logical operations on the first input signal and the second input signal, and outputs a control signal to the controlled unit through the output terminal; The control signal is used to control the controlled unit to output the second level signal.

19. A control device, characterized in that, include: First control unit, second control unit, and latching unit; The first control unit is connected to the latch unit and is used to output a first level signal to the latch unit; The second control unit is connected to the latch unit and is used to output a second level signal to the latch unit; The latching unit has a first input terminal, a second input terminal, and an output terminal. The latching unit is used to receive a first level signal and a second level signal through the first input terminal and the second input terminal, respectively, sample and latch the second level signal under the action of the first level signal, and output the latched signal to the controlled unit through the output terminal. The latch unit also has a power supply terminal, and the second control unit is also connected to the power supply terminal of the latch unit and is used to control the power-on and power-off states of the latch unit.

20. The control device according to claim 19, characterized in that, The latching unit includes an edge-triggered trigger.

21. A control system, characterized in that, Includes the control device and the controlled unit as described in any one of claims 18 to 20.

22. A vehicle, characterized in that, include: The control system as described in any one of claims 1 to 17, or the control system as described in claim 21.

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