Vehicle safety state display method, cross-domain controller and storage medium

Abstract

The invention discloses a safety state display method of a vehicle, a cross-domain controller and a storage medium, the method is applied to the cross-domain controller for performing fusion control on a cabin domain and an intelligent driving domain of the vehicle, and the method comprises the following steps: acquiring a current alarm lamp signal under the condition that a target vehicle-mounted screen is in a 3D display state, performing 3D rendering according to the current alarm lamp signal to obtain a 3D alarm lamp icon; transmitting the 3D alarm lamp icon to a target vehicle-mounted screen for display; generating a first check code of the 3D alarm lamp icon; and according to the first check code and a pre-stored check code set, judging whether the target vehicle-mounted screen displays abnormally, and if so, controlling the target vehicle-mounted screen to switch from the 3D display state to a 2D display state representing a safe state. According to the invention, the technical problem of low safety of the domain controller is at least solved.

Description

Technical Field

[0001] The present specification relates to the field of smart cockpits, and in particular to a vehicle safety status display method, a cross-domain controller, and a storage medium. Background Art

[0002] The market penetration of smart cockpits is increasing day by day. As a driver reminder function path when the intelligent driving function fails, its functional safety requirements are also indispensable. Among the existing smart cockpit safety architecture solutions: one is to enter the safety state of attaching a safety icon by adding the IMC (integrated memory controller) function and OSD (On Screen Display) function of the Rohm chip on the screen side. This solution makes the hardware system of the screen side complicated and increases the hardware cost; the other is to design a black screen as a safety state. The display of the screen side can be turned off by pulling down the Display Enable pin of the MCU (Microcontroller Unit), so that multiple screens on the vehicle enter the black screen safety state. Although this solution simplifies the hardware system of the screen side, since multiple screens will share the Display Enable pin as the sleep / wake-up port, once the Display Enable pin is pulled down, all display functions will be unavailable, resulting in poor user experience and system availability. And both solutions need to rely on the screen side to complete the entry into the safety state, resulting in low security of the domain controller. Summary of the invention

[0003] The embodiments of this specification provide a vehicle safety status display method, a cross-domain controller and a storage medium to solve the technical problem of low security of the domain controller.

[0004] In a first aspect of the present specification, a method for displaying the safety status of a vehicle is provided, which is applied to a cross-domain controller that performs integrated control of a cockpit domain and an intelligent driving domain of a vehicle, wherein the vehicle includes a target vehicle screen that displays at least a warning light icon, and the method includes: obtaining a current warning light signal when the target vehicle screen is in a 3D display state; performing 3D rendering according to the current warning light signal to obtain a 3D warning light icon; transmitting the 3D warning light icon to the target vehicle screen for display, and generating a first verification code for the 3D warning light icon; judging whether the target vehicle screen displays an abnormality according to the first verification code and a pre-stored verification code set, and if so, controlling the target vehicle screen to switch from the 3D display state to a 2D display state representing a safety state.

[0005] In combination with the first aspect, in some embodiments, determining whether the target vehicle screen displays an abnormality based on the first verification code and the pre-stored verification code set includes: taking the current alarm light signal as an index, obtaining a second verification code corresponding to the current alarm light signal from the pre-stored verification code set, the pre-stored verification code set including a plurality of candidate verification codes corresponding one-to-one to the types of alarm light signals; comparing the first verification code with the second verification code to see if they are consistent, and if they are inconsistent, determining that the target vehicle screen displays an abnormality.

[0006] In combination with the first aspect, in some embodiments, the first verification code is compared with a pre-stored verification code, including: comparing the first verification code with each verification code in the pre-stored verification code set one by one; if the first verification code is inconsistent with each verification code in the pre-stored verification code set, it is determined that the target vehicle screen display is abnormal.

[0007] In combination with the first aspect, in some embodiments, controlling the target vehicle screen to switch from the 3D display state to the 2D display state includes: if the current warning light signal is a type of warning light signal characterizing an abnormality in the assisted driving function of the vehicle, determining the type of fault currently occurring in the cross-domain controller; based on the type of fault currently occurring in the cross-domain controller, executing an action for entering a safe state so that the target vehicle screen presents an assisted driving function abnormality reminder and / or a driver takeover reminder in the 2D display state.

[0008] In combination with the first aspect, in some embodiments, the cross-domain controller includes a system on chip and an MCU, and the system on chip includes a safety island; determining the type of fault currently occurring in the cross-domain controller includes: detecting by the safety island whether an internal fault occurs in the safety island, and detecting by the safety island whether a target path running the cross-domain controller fails, wherein the target path is a path for determining whether the target vehicle screen needs to switch from the 3D display state to the 2D display state.

[0009] In combination with the first aspect, in some embodiments, the system on chip also includes a SEM module, the system on chip is connected to the input interface of the multiplexer through the first display channel, the second display channel and the third display channel, and the output interface of the multiplexer is connected to the target vehicle screen; according to the type of fault currently occurring in the cross-domain controller, an action for entering a safe state is executed so that the target vehicle screen presents an abnormal reminder of the assisted driving function and / or a driver takeover reminder in the 2D display state, including: if an internal fault occurs in the safety island, the SEM module connects the second display channel with the output interface of the multiplexer, obtains a 2D warning picture representing the abnormal reminder of the assisted driving function and / or the driver takeover reminder, and outputs the 2D warning picture to the target vehicle screen through the second display channel; if a fault occurs in the target path, the safety island connects the third display channel with the output interface of the multiplexer, obtains a default warning picture, and outputs the default warning picture to the target vehicle screen through the third display channel.

[0010] In combination with the first aspect, in some embodiments, the system on chip also includes a first application processor corresponding to the cockpit domain and a second application processor corresponding to the intelligent driving domain; generating a 3D warning light icon based on the current warning light signal includes: if the current warning light signal indicates that the assisted driving function is abnormal, the safety island sends an abnormal display request to the first application processor through inter-core communication; the first application processor responds to the abnormal display request and performs 3D rendering on the current warning light signal to obtain a 3D warning light icon representing a driver takeover reminder and / or an assisted driving function abnormality reminder; transmitting the 3D warning light icon to the target vehicle screen for display includes: outputting the 3D warning light icon to the target vehicle screen for display through the first display channel.

[0011] In combination with the first aspect, in some embodiments, the safety island detects whether a target path running across the domain controller fails, including: if the first check code read back by the first display channel from the multiplexer is erroneous, determining that the target path fails; after the safety island sends an abnormal display request to the first application processor through inter-core communication, if the safety island does not receive positive feedback from the first application processor on the abnormal display request, determining that the target path fails.

[0012] In combination with the first aspect, in some embodiments, the SEM module connects the second display channel with the output interface of the multiplexer, including: if the first check code read back from the multiplexer by the first display channel is wrong, the SEM module triggers the CPU of the safety island to interrupt, so that the safety island sends an instruction to the multiplexer in the interrupt task to connect the output interface of the multiplexer with the third display channel; if the safety island does not receive positive feedback from the first application processor on the abnormal display request, the safety island sends an instruction to the multiplexer to connect the output interface of the multiplexer with the third display channel.

[0013] In combination with the first aspect, in some embodiments, the cross-domain controller includes a system on chip and an MCU, the MCU is configured to be connected to the vehicle CAN bus of the vehicle through a first data link, and the safety island of the system on chip is configured to be connected to the vehicle CAN bus through a second data link, and obtaining the current warning light signal includes: the MCU receives the target CAN message from the vehicle CAN bus through the first data link; the MCU performs a security check on the target CAN message; if the check is successful, the MCU parses the target CAN message to obtain the current warning light signal; if the check fails, the safety island obtains the current warning light signal from the vehicle CAN bus through the second data link.

[0014] In a second aspect of the present specification, a cross-domain controller is provided for integrated control of a vehicle's cockpit domain and intelligent driving domain, characterized in that the cross-domain controller includes a memory, one or more processors, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the method for displaying the safety status of the vehicle as described in any embodiment of the first aspect is implemented.

[0015] In a third aspect of the present specification, a computer-readable storage medium is provided, on which a computer program is stored, characterized in that when the program is executed by a processor, the vehicle safety status display method described in any embodiment of the first aspect is implemented.

[0016] One or more technical solutions provided by the embodiments of this specification have at least the following technical effects or advantages:

[0017] In the context of cabin-driver fusion, 3D image rendering is performed based on the current warning light signal obtained to obtain a 3D warning light icon and transmit it to the target vehicle screen for display, and the first check code of the 3D warning light icon is generated. According to the first check code and the pre-stored check code set, it is determined whether the target vehicle screen displays abnormally. If so, the target vehicle screen is controlled to switch from the 3D display state to the 2D display state representing the safe state, realizing the use of the 2D display state to represent the safe state in the case of 3D display abnormality, replacing the safe state represented by the black screen or the map, and does not need to rely on the screen side to increase the function development and hardware costs to support, so that the domain controller meets the functional safety requirements of the smart cockpit, and reduces the cost increase while improving safety. And the target vehicle screen can continuously output key information, improving system availability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present specification. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0019] Figure 1 A flow chart showing a method for displaying the safety status of a vehicle provided in some embodiments of this specification is shown;

[0020] Figure 2 A schematic diagram showing a method for displaying a safety status of a vehicle provided in some embodiments of this specification, in which a warning light signal icon is displayed on a dashboard;

[0021] Figure 3 The functional safety architecture of the vehicle safety status display method provided by some embodiments of this specification is shown;

[0022] Figure 4 The processing of the original display path, the degraded display path and the safe path in some embodiments of this specification is shown;

[0023] Figure 5 The data flow of the method for displaying the safety status of a vehicle provided by some embodiments of this specification is shown;

[0024] Figure 6 A schematic diagram of the structure of a cross-domain controller provided in some embodiments of this specification is shown. DETAILED DESCRIPTION

[0025] In order to better understand the above technical scheme, the technical scheme of the embodiments of this specification is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical scheme of the embodiments of this specification, rather than limitations on the technical scheme of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.

[0026] The embodiments of this specification provide a method for displaying the safety status of a vehicle, which is applied to a cross-domain controller that performs cross-domain control on the cockpit domain and the intelligent driving domain of the vehicle. The cockpit-driver fusion is to perform cross-domain fusion of the cockpit domain and the intelligent driving domain to form a cabin-driver integration, which is controlled by the same domain controller. The method for displaying the safety status of a vehicle provided by the embodiments of the present invention is proposed in the context of the cockpit-driver fusion.

[0027] The method for displaying the safety status of a vehicle provided in an embodiment of the present specification comprises a target vehicle-mounted screen for displaying an alarm light icon. It is understandable that the vehicle may comprise one or more vehicle-mounted screens for displaying at least an alarm light icon, such as an instrument panel, a central control screen, and the like.

[0028] Figure 1 FIG. 1 is a flow chart showing a method for displaying the safety status of a vehicle provided in some embodiments of this specification. Figure 1 As shown, the vehicle safety status display method includes the following steps S101 to S104.

[0029] S101. When the target vehicle screen is in a 3D display state, a current warning light signal is obtained.

[0030] Figure 2 The schematic diagram shows a method for displaying the safety status of a vehicle provided in some embodiments of the present specification, in which a warning light signal icon is displayed on the instrument panel. Figure 2 As shown, in the embodiment of this specification, the current warning light signal obtained is a signal related to functional safety, such as a takeover request light signal, a gear light signal, etc.

[0031] Figure 5 The data flow of the vehicle safety status display method provided by some embodiments of this specification is shown. Figure 5As shown, some warning light signals come from the vehicle CAN (Controller Area Network) bus. If a target CAN message from the vehicle CAN bus is received, the warning light signal (Telltale) related to functional safety is obtained by parsing the target CAN message. Some warning light signals come from the cross-domain controller, such as the warning light signal generated by the cross-domain controller detecting an abnormality in the assisted driving (ADAS, Advanced Driver Assistance Systems) function. Among them, the target CAN message is a CAN message containing a warning light signal related to functional safety. Functional safety means that the target vehicle screen can correctly display relevant information about driving safety from the vehicle system, and the safety level is ASIL B.

[0032] S102: Perform 3D rendering according to the current warning light signal to obtain a 3D warning light icon.

[0033] In some embodiments, performing 3D image rendering according to the acquired current warning light signal to obtain a 3D warning light icon may include: performing 3D image rendering of a corresponding warning light icon according to the type of the acquired current warning light signal, and performing image correction on the rendering result to obtain the 3D warning light icon. For example, if the current warning light signal is a gear position light signal, then performing 3D image rendering of the gear position light icon to obtain the 3D gear position light icon.

[0034] Figure 3 The functional safety architecture of the vehicle safety status display method provided by some embodiments of this specification is shown. Figure 3As shown, in some embodiments, the cross-domain controller may include a SoC (System on Chip) and an MCU, wherein the SoC includes an FSI (Functional Safety Island), an AP1 (Application Processor 1) corresponding to the cockpit domain, and an AP2 (Application Processor 2) corresponding to the intelligent driving domain. The target CAN message is received by the MCU, and the MCU performs a security check on the received target CAN message. The MCU may, but is not limited to, use an E2E (end to end) security check algorithm to perform a security check on the target CAN message; after the security check is successful, the MCU parses the target CAN message to obtain the current warning light signal related to functional safety contained in the target CAN message, and then the MCU directly sends the obtained current warning light signal to the first application processor and the safety island in the SoC. Of course, the MCU can also send the obtained current warning light signal to the safety island of the SoC, and then the safety island forwards it to the first application processor. After the first application processor receives the current warning light signal related to functional safety, the first application processor performs 3D image rendering according to the current warning light signal to obtain a 3D warning light icon.

[0035] S103, transmitting the 3D warning light icon to the target vehicle screen for display, and generating a first verification code of the 3D warning light icon.

[0036] As shown in the picture, the system is connected to the input interface of the multiplexer through the first display channel, the second display channel and the third display channel, and the output interface of the multiplexer is connected to the target vehicle screen. The first application processor of the system on chip transmits the 3D warning light icon to the target vehicle screen for display through the first display channel.

[0037] The first application processor also calculates a first check code for the 3D warning light icon to generate a first check code for the 3D warning light icon. The first check code may be a CRC (Cyclic Redundancy Check) value or a summary calculated by other algorithms.

[0038] S104, judging whether the target vehicle screen displays abnormality according to the first verification code and the pre-stored verification code set, and if so, controlling the target vehicle screen to switch from a 3D display state to a 2D display state representing a safe state.

[0039] It can be understood that the pre-stored verification code set includes a variety of candidate verification codes corresponding one-to-one to the types of warning light signals.

[0040] In some embodiments, the current warning light signal is used as an index to obtain a second verification code corresponding to the current warning light signal from a pre-stored verification code set; the first verification code is compared with the second verification code to see if they are consistent; if they are inconsistent, it is determined that the target vehicle screen display is abnormal. In other embodiments, the first verification code is compared one by one with each verification code in the pre-stored verification code set; if the first verification code is inconsistent with each verification code in the pre-stored verification code set, it is determined that the target vehicle screen display is abnormal.

[0041] It should be noted that, in any of the above embodiments, the pre-stored check code set may be pre-stored in a ROM (Read-Only Memory). The pre-stored check code set includes a plurality of candidate check codes corresponding to the types of the alarm light signal, and the candidate check code corresponding to each type of alarm light signal is a check code calculated based on the 3D alarm light icon of the alarm light signal.

[0042] In some implementations, the first check code and each candidate check code in the pre-stored check code set may be in the form of a CRC (Cyclic Redundancy Check) check code.

[0043] In some embodiments, after the safety island receives the current warning light signal related to functional safety sent by the MUC, the current warning light signal is used as an index to obtain the second check code pre-stored for the current warning light signal from the pre-stored check code set. After the first application processor generates the first check code, the first check code is transmitted back to the safety island, and the safety island compares whether the first check code is consistent with the second check code or the safety island compares the first check code with each check code in the pre-stored check code set; if the safety island compares the first check code with the second check code and finds that it is inconsistent, or there is no check code consistent with the first check code in the pre-stored check code set, indicating that the warning light icon displayed on the target vehicle screen is abnormal, then the output of the display controller is switched to switch the target vehicle screen from the 3D display state to the 2D display state representing the safety state. In the case where the vehicle includes multiple vehicle screens, the vehicle screen that does not need to display the warning light icon continues to remain in the 3D display state, that is, the display functions of each vehicle screen other than the target vehicle screen will not be affected, and the impact on the target vehicle screen is only a downgraded display, and there is no black screen, so that the target vehicle screen can continue to display key information, improving system availability. If the first verification code is consistent with the second verification code or there is a verification code consistent with the first verification code in the pre-stored verification code set, it means that the warning light icon displayed on the target vehicle screen is correct, and there is no need to enter the safe state, and the target vehicle screen continues to remain in the 3D display state.

[0044] In some embodiments, the vehicle safety status display method provided in the embodiments of this specification controls the target vehicle screen to switch from a 3D display state to a 2D display state representing a safety state, and may include: if the current warning light signal is a type of warning light signal representing an abnormality in the vehicle's assisted driving function, determining the type of fault currently occurring in the cross-domain controller; executing an action for entering a safety state according to the type of fault currently occurring in the cross-domain controller, so that the target vehicle screen presents an assisted driving function abnormality reminder and / or a driver takeover reminder in a 2D display state. It is understandable that the safety island diagnoses whether the vehicle's assisted driving function is abnormal based on the information carried by the CAN message from the vehicle's CAN bus. If the vehicle's assisted driving function is diagnosed to be abnormal, the safety island is triggered to send an abnormal display request to the first application processor through inter-core communication, carrying a warning light signal representing an abnormality in the vehicle's assisted driving function.

[0045] In some embodiments, when the on-chip system also includes a safety island, a first application processor corresponding to the cockpit domain, and a second application processor corresponding to the intelligent driving domain, the step of performing 3D image rendering on the acquired current warning light signal and transmitting the rendered 3D warning light icon to the target vehicle screen for display may include: if the current warning light signal indicates that the vehicle's assisted driving function is abnormal, the safety island sends an abnormal display request to the first application processor through inter-core communication; the first application processor responds to the abnormal display request by performing 3D image rendering on the current warning light signal indicating the abnormal assisted driving function to obtain a 3D warning light icon indicating a driver takeover reminder and / or an assisted driving function abnormality reminder; and outputting the 3D warning light icon to the target vehicle screen through the first display channel.

[0046] In some embodiments, the cross-domain controller includes a system on chip and an MCU, the system on chip includes a safety island, and the above step of determining the type of fault currently occurring in the cross-domain controller may include: the safety island detecting whether an internal fault occurs in the safety island, and the safety island detecting whether a target path running the cross-domain controller fails, wherein the target path is a path for determining whether the target vehicle screen needs to switch from a 3D display state to a 2D display state.

[0047] like Figure 5As shown, in some embodiments, the safety island detects whether a target path running across domain controllers fails, which may include: if the first check code read back from the multiplexer by the first display channel is wrong, the SEM module triggers the CPU interrupt (SEM_INT_SEL=CPU) of the safety island to enable the safety island to issue an instruction to the multiplexer in the interrupt task to connect the output interface of the multiplexer to the third display channel; after the safety island sends an abnormal display request to the first application processor through inter-core communication, if the safety island does not receive positive feedback from the first application processor to the abnormal display request, that is, the safety island receives negative feedback from the first application processor or does not receive feedback from the first application processor, it is determined that the target path fails.

[0048] In some embodiments, Figure 2 As shown, the system on chip also includes a SEM (system error management, a fault management module inside the SoC chip) module. The system on chip is connected to the input interface of the multiplexer through the first display channel, the second display channel and the third display channel, and the output interface of the multiplexer is connected to the target vehicle screen.

[0049] like Figure 5 As shown, according to the type of fault currently occurring in the cross-domain controller, actions for entering a safe state are executed, which may include: if an internal fault occurs in the safety island, the SEM module connects the second display channel to the output interface of the multiplexer, obtains a 2D warning image representing an abnormal reminder of the assisted driving function and / or a reminder for the driver to take over, and outputs the 2D warning image to the target vehicle screen through the second display channel; if a fault occurs in the target path, the safety island connects the third display channel to the output interface of the multiplexer, obtains a default warning image, and outputs the default warning image to the target vehicle screen through the third display channel.

[0050] It can be understood that the system on chip can also include DRAM (Dynamic Random Access Memory). The system on chip is connected to the input interface of the multiplexer through the first display channel, the second display channel and the third display channel, and can include: the input ends of the first display channel, the second display channel and the third display channel are connected to the DRAM, the output ends are connected to the input interface of the multiplexer, and the FSI is connected to the DRAM.

[0051] like Figure 5As shown, an external eMMC (Embedded Multi Media Card) may also be connected to the safety island. If the target path fails due to an error in the first check code read back from the multiplexer by the first display channel, the SEM module triggers the CPU of the safety island to interrupt, so that the safety island sends an instruction to the multiplexer in the interrupt task to connect the output interface of the multiplexer to the second display channel; the safety island queries the eMMC to obtain a 2D warning image representing the driver takeover reminder and / or the auxiliary driving function abnormality reminder and loads it to DRAM, reads the 2D warning image from the DRAM through the second display channel and transmits it to the target vehicle screen for display.

[0052] like Figure 5 As shown, if a DCLS (Dual Core Lock Step) error or an ECC (Error Checking and Correcting) memory error is detected in the safety island, it indicates that an internal fault has occurred in the safety island. The internal fault in the safety island will trigger the SEM module to directly connect the output interface LVDS1 (Low Voltage Differential Signaling) of the multiplexer with the third display channel through register configuration, obtain the default warning image from the DDR (Double Data Rate) of the SoC and load it into DRAM, read the default warning image from the DRAM through the third display channel and pass it to the target vehicle screen for display.

[0053] like Figure 5 As shown, when the failure of the target path is due to the safety island not receiving positive feedback from the first application processor on the abnormal display request, the safety island directly sends instructions to the multiplexer to connect the output interface of the multiplexer to the second display channel. The safety island obtains a 2D warning image representing the driver takeover reminder and / or the auxiliary driving function abnormal reminder from the eMMC and loads it to DRAM. The 2D warning image is read from the DRAM through the second display channel and passed to the target vehicle screen for display. It is understandable that when the first application processor in the SoC reports an error due to some abnormal loss, or the display module of the first application processor reports an error, it will result in the safety island being unable to receive positive feedback from the first application processor on the abnormal display request.

[0054] It can be understood that in step S103, the current warning light signal obtained is a warning light signal other than the warning light signal generated by the abnormality of the auxiliary driving function. If the first verification code is compared with the second verification code and is inconsistent, entering the safe state will also be achieved by obtaining the corresponding 2D warning picture or the default warning picture. For the sake of brevity of the specification, it will not be repeated here.

[0055] In the traditional smart cockpit solution, the MCU in the SoC is responsible for the function of interacting with the whole vehicle and the intelligent driving domain control information. If the MCU fails, it enters the fail-silent mode, the cockpit function is disabled, and the availability is poor. In some embodiments provided in this specification, the cross-domain controller includes a system on chip and an MCU. The MCU is configured to be connected to the vehicle's whole vehicle CAN bus through a first data link, and the safety island of the system on chip is configured to be connected to the vehicle CAN bus through a second data link. The vehicle safety status display method provided in the embodiment of this specification may also include: the MCU receives the target CAN message from the whole vehicle through the first data link; the MCU performs a security check on the target CAN message. If the check is successful, the MCU parses the target CAN message to obtain the current warning light signal; if the check fails, it indicates that the MCU has failed, and the safety island obtains the current warning light signal from the vehicle CAN bus through the second data link. Therefore, since the SoC has a redundant second data link, when the MCU fails, the SoC can still communicate with the CAN bus through it to complete the corresponding function, so that the system availability is improved.

[0056] The vehicle safety status display method provided in one or more embodiments of this specification implements three paths: original display path, degraded display path and safety path, and strictly meets the safety status designed for the safety goals and requirements of the entire vehicle.

[0057] Figure 4 The processing of the original display path, the degraded display path and the safe path in some embodiments of this specification is shown. Figure 4 The processing based on the original display path, the degraded display path and the safe path is given:

[0058] Original display path: The cross-domain controller receives the current warning light signal, performs 3D image rendering according to the current warning light signal, passes the obtained 3D warning light icon to the target vehicle screen for display, and also calculates the CRC of the 3D warning light icon and passes it to the degraded display path.

[0059] Degraded display path: The cross-domain controller receives the current warning light signal, indexes the pre-stored CRC through the current warning light signal, and compares it with the CRC passed to the degraded display path by the original display path. If the comparison is consistent, the output of the original display path is maintained. If not, the target vehicle screen switches to 2D display state.

[0060] Safety path: After detecting an abnormality in the assisted driving function, it is responsible for detecting internal faults in the safety island across domain controllers and faults in the degraded display path. When an internal fault or a degraded display path is detected, a driver takeover reminder and / or an assisted driving function abnormality reminder is output in the 2D display state.

[0061] Based on the same inventive concept, the embodiment of this specification also provides a cross-domain controller. Figure 6 FIG. 1 shows a schematic diagram of the structure of a cross-domain controller provided in some embodiments of this specification. Figure 6 As shown, the cross-domain controller includes a memory 604, a processor 602, and a computer program stored in the memory 604 and executable on the processor 602. When the processor 602 executes the computer program, the vehicle safety status display method described in any of the above embodiments is implemented.

[0062] Among them, Figure 6 In the embodiment of the present invention, a bus architecture (represented by bus 600) is shown, which may include any number of interconnected buses and bridges, and bus 600 connects various circuits including one or more processors represented by processor 602 and memory represented by memory 604. Bus 600 may also connect various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are not further described herein. Bus interface 605 provides an interface between bus 600 and receiver 601 and transmitter 603. Receiver 601 and transmitter 603 may be the same element, namely a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 602 is responsible for managing bus 600 and general processing, while memory 604 may be used to store data used by processor 602 when performing operations.

[0063] Based on the same inventive concept, an embodiment of the present specification further provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the above-mentioned panoramic image stitching method is implemented.

[0064] This specification is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of this specification. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that has the functions specified in one or more boxes.

[0065] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0066] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0067] Although the preferred embodiments of this specification have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of this specification.

[0068] Obviously, those skilled in the art can make various changes and modifications to this specification without departing from the spirit and scope of this specification. Thus, if these modifications and variations of this specification fall within the scope of the claims of this specification and their equivalents, this specification is also intended to include these modifications and variations.

Claims

1. A method for displaying the safety status of a vehicle, characterized in that: A cross-domain controller for integrated control of a cockpit domain and an intelligent driving domain of a vehicle, wherein the vehicle includes a target vehicle screen that displays at least a warning light icon, and the method includes: When the target vehicle-mounted screen is in a 3D display state, a current warning light signal is acquired; Performing 3D rendering according to the current warning light signal to obtain a 3D warning light icon; Transmitting the 3D warning light icon to the target vehicle-mounted screen for display, and generating a first verification code for the 3D warning light icon; Whether the target vehicle screen displays abnormally is determined according to the first verification code and the pre-stored verification code set. If so, the target vehicle screen is controlled to switch from the 3D display state to a 2D display state representing a safe state.

2. The method according to claim 1, characterized in that The determining whether the target vehicle-mounted screen displays abnormality according to the first verification code and the pre-stored verification code set includes: Taking the current warning light signal as an index, obtaining a second check code corresponding to the current warning light signal from a pre-stored check code set, wherein the pre-stored check code set includes a plurality of candidate check codes corresponding to the types of the warning light signals one by one; The first verification code is compared with the second verification code to see if they are consistent. If they are inconsistent, it is determined that the target vehicle-mounted screen displays an abnormality.

3. The method according to claim 2, characterized in that Comparing the first verification code with a pre-stored verification code includes: Compare the first verification code with each verification code in the pre-stored verification code set one by one; If the first verification code is inconsistent with any verification code in the pre-stored verification code set, it is determined that the target vehicle-mounted screen displays an abnormality.

4. The method according to claim 1, characterized in that The controlling the target vehicle-mounted screen to switch from the 3D display state to the 2D display state includes: If the current warning light signal is a warning light signal that indicates an abnormality in the auxiliary driving function of the vehicle, determining the type of fault currently occurring in the cross-domain controller; According to the type of fault currently occurring in the cross-domain controller, an action for entering a safe state is executed so that the target vehicle-mounted screen presents an auxiliary driving function abnormality reminder and / or a driver takeover reminder in the 2D display state.

5. The method according to claim 4, characterized in that The cross-domain controller includes a system on chip and an MCU, and the system on chip includes a safety island; The determining the type of the current fault of the cross-domain controller includes: The safety island detects whether an internal failure occurs in the safety island, and The safety island detects whether a target path running on the cross-domain controller fails, wherein the target path is a path for determining whether the target vehicle screen needs to switch from the 3D display state to the 2D display state.

6. The method according to claim 5, characterized in that The system on chip further includes a SEM module, the system on chip is connected to an input interface of a multiplexer through a first display channel, a second display channel, and a third display channel, and an output interface of the multiplexer is connected to the target vehicle-mounted screen; The performing of an action for entering a safe state according to the type of fault currently occurring in the cross-domain controller, so that the target vehicle-mounted screen presents an auxiliary driving function abnormality reminder and / or a driver takeover reminder in the 2D display state, includes: If an internal fault occurs in the safety island, the SEM module connects the second display channel with the output interface of the multiplexer to obtain a 2D warning image representing an abnormal reminder of the auxiliary driving function and / or a reminder for the driver to take over, and outputs the 2D warning image to the target vehicle screen through the second display channel; If a failure occurs in the target path, the safety island connects the third display channel with the output interface of the multiplexer, obtains a default warning image, and outputs the default warning image to the target vehicle screen through the third display channel.

7. The method according to claim 6, characterized in that The system on chip also includes a first application processor corresponding to the cockpit domain and a second application processor corresponding to the intelligent driving domain; The generating a 3D warning light icon according to the current warning light signal comprises: If the current warning light signal indicates that the auxiliary driving function is abnormal, the safety island sends an abnormality display request to the first application processor through inter-core communication; The first application processor responds to the abnormal display request and performs 3D rendering on the current warning light signal to obtain a 3D warning light icon representing a driver takeover reminder and / or an auxiliary driving function abnormality reminder; The transmitting the 3D warning light icon to the target vehicle-mounted screen for display includes: outputting the 3D warning light icon to the target vehicle-mounted screen for display through the first display channel.

8. The method according to claim 7, characterized in that The safety island detects whether a target path running on the cross-domain controller fails, including: If the first check code read back by the first display channel from the multiplexer is wrong, it is determined that the target path fails; After the safety island sends an exception display request to the first application processor through inter-core communication, if the safety island does not receive positive feedback from the first application processor on the exception display request, it is determined that a fault occurs on the target path.

9. The method according to claim 8, characterized in that The step of connecting the second display channel to the output interface of the multiplexer by the SEM module includes: If the first check code read back from the multiplexer by the first display channel is wrong, the SEM module triggers the CPU of the safety island to interrupt, so that the safety island sends an instruction to the multiplexer in the interrupt task to connect the output interface of the multiplexer with the third display channel; If the safety island does not receive positive feedback from the first application processor to the abnormal display request, the safety island sends an instruction to the multiplexer to connect the output interface of the multiplexer to the third display channel.

10. The method according to claim 1, characterized in that The cross-domain controller includes a system on chip and an MCU, the MCU is configured to be connected to the vehicle CAN bus of the vehicle through a first data link, the safety island of the system on chip is configured to be connected to the vehicle CAN bus through a second data link, and the current warning light signal is obtained including: The MCU receives a target CAN message from the vehicle CAN bus through the first data link; The MCU performs security verification on the target CAN message; If the verification is successful, the MCU parses the target CAN message to obtain the current warning light signal; If the verification fails, the safety island obtains the current warning light signal from the vehicle CAN bus through the second data link.

11. A cross-domain controller for integrating the cockpit domain and the intelligent driving domain of a vehicle, characterized in that: The cross-domain controller includes a memory, one or more processors, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the vehicle safety status display method according to any one of claims 1 to 10 is implemented.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the vehicle safety status display method described in any one of claims 1 to 10 is implemented.

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