Domain control communication redundancy implementation method, device and equipment and readable storage medium

Abstract

A domain control communication redundancy implementation method, device and equipment and a readable storage medium relate to the technical field of vehicle communication, and comprise the following steps: controlling a first electronic control unit and a second electronic control unit in an electronic mechanical braking system to be respectively hooked to a first domain controller and a second domain controller; when the first electronic control unit detects that the first domain controller is in a failure state, target failure information corresponding to the first domain controller is transmitted to the second electronic control unit through the first electronic control unit; and the target failure information is transmitted to the second domain controller through the second electronic control unit, so that the second domain controller takes over the target electronic control unit under the first domain controller based on the target failure information, and communication between the target electronic control unit and the central controller is realized. According to the invention, redundant communication between the electronic control unit and the central controller under the failure of the domain controller is realized by using the double-control redundancy characteristic of the EMB, so that the function degradation or failure of the whole vehicle is avoided.

Description

Technical Field

[0001] The present application relates to the field of vehicle communication technology, and in particular to a method, device, equipment and readable storage medium for implementing domain control communication redundancy. Background Art

[0002] With the development of the new energy vehicle industry, the number of automotive electrical equipment and controllers continues to increase, and the ordinary distributed architecture can no longer meet the needs of the entire vehicle; therefore, people usually divide the ECUs (Electronic Control Units) of different systems based on vehicle functions, that is, multiple ECUs with similar functions are integrated under one domain controller to build VIUs for each domain controller of the entire vehicle. Among them, the domain controller VIU is mainly responsible for receiving and forwarding communications from each ECU under its domain control to achieve communication between the ECU and the OIB (One Intelligent Brain, central controller) controller, thereby improving communication efficiency, optimizing lines and architectures, and simplifying line layout.

[0003] In the related technology, each ECU is integrated under the corresponding domain control (i.e., VIU controller) to communicate with other controllers and sensors of the whole vehicle through the VIU controller; however, since most ECUs do not have redundant communication backup, once a VIU controller fails busoff, all ECUs under the VIU controller link will lose communication interaction with the OIB controller, so that the functions of the whole vehicle associated with the ECUs under the VIU controller link will be lost or downgraded, that is, the whole vehicle function will be downgraded or fail, thus affecting the safety of the whole vehicle and reducing the customer experience. It can be seen that how to achieve redundancy of domain control communication to avoid degradation or failure of the whole vehicle function is a problem that needs to be solved urgently. Summary of the invention

[0004] The present application provides a method, device, equipment and readable storage medium for implementing domain control communication redundancy, which can effectively implement domain control communication redundancy to avoid vehicle function degradation or failure due to VIU controller failure.

[0005] In a first aspect, an embodiment of the present application provides a method for implementing domain control communication redundancy, comprising the following steps:

[0006] Controlling a first electronic control unit and a second electronic control unit in an electronic mechanical brake system, which are respectively connected to a first domain controller and a second domain controller;

[0007] When the first domain controller is detected to be in a failure state by the first electronic control unit, the target failure information corresponding to the first domain controller is transmitted to the second electronic control unit by the first electronic control unit;

[0008] The target failure information is transmitted to the second domain controller through the second electronic control unit, so that the second domain controller can take over the target electronic control unit under the first domain controller based on the target failure information to achieve communication between the target electronic control unit and the central controller.

[0009] In combination with the first aspect, in one embodiment, before the step of detecting that the first domain controller is in a failed state by the first electronic control unit, the method further includes:

[0010] Sending a detection message to the first domain controller through the first electronic control unit, so that the first domain controller replies with a response message to the first electronic control unit based on the detection message, wherein the detection message carries the communication status of the second domain controller;

[0011] If it is detected that the first electronic control unit has not received the response message within a preset first time period, it is determined that the first domain controller is in a failed state;

[0012] If it is detected that the first electronic control unit has received the response message within a preset first time period, it is determined that the first domain controller is in a normal state, so as to realize communication between the target electronic control unit and the central controller through the first domain controller.

[0013] In combination with the first aspect, in one implementation, after the step of the second domain controller taking over the target electronic control unit under the first domain controller based on the target failure information, the method further includes:

[0014] forwarding the message sent by the target electronic control unit to the central controller through the second domain controller, and forwarding the reply message of the central controller to the second electronic control unit;

[0015] The reply message is sent to the first electronic control unit through the second electronic control unit, so that the reply message is transmitted to the target electronic control unit based on the first electronic control unit.

[0016] In combination with the first aspect, in one implementation, after the second domain controller takes over the target electronic control unit under the first domain controller based on the target failure information to achieve communication between the target electronic control unit and the central controller, the method further includes:

[0017] Continuously sending a detection message to the first domain controller through the first electronic control unit, wherein the detection message carries the communication status of the second domain controller;

[0018] When it is detected that the first electronic control unit re-receives the response message sent by the first domain controller and receives the response message within a preset second time period, it is determined that the first domain controller is restored to a normal state;

[0019] Control the first domain controller to take over the target electronic control unit again.

[0020] In combination with the first aspect, in one implementation, after the step of controlling the first domain controller to take over the target electronic control unit again, the step further includes:

[0021] Sending, by the first electronic control unit, a new message carrying the first domain controller being in a normal state to the second electronic control unit;

[0022] The new message is sent to the second domain controller through the second electronic control unit, so that the second domain controller quits taking over the target electronic control unit based on the new message.

[0023] In a second aspect, an embodiment of the present application provides a domain control communication redundancy implementation device, including: a first electronic control unit mounted under a first domain controller and a second electronic control unit mounted under a second domain controller, wherein the first electronic control unit and the second electronic control unit belong to the same electronic mechanical braking system;

[0024] When the first electronic control unit detects that the first domain controller is in a failed state, transmitting target failure information corresponding to the first domain controller to the second electronic control unit;

[0025] The second electronic control unit transmits the target failure information to the second domain controller;

[0026] The second domain controller takes over the target electronic control unit under the first domain controller based on the target failure information to achieve communication between the target electronic control unit and the central controller.

[0027] In combination with the second aspect, in one embodiment, the first electronic control unit sends a detection message to the first domain controller; the first domain controller replies with a response message to the first electronic control unit based on the detection message, and the detection message carries the communication status of the second domain controller; if the first electronic control unit does not receive the response message within a preset first time period, it is determined that the first domain controller is in an invalid state; if the first electronic control unit has received the response message within the preset first time period, it is determined that the first domain controller is in a normal state, so as to realize communication between the target electronic control unit and the central controller through the first domain controller.

[0028] In combination with the second aspect, in one embodiment, the second domain controller forwards the message sent by the target electronic control unit to the central controller, and forwards the reply message from the central controller to the second electronic control unit; the second electronic control unit sends the reply message to the first electronic control unit; the first electronic control unit transmits the reply message to the target electronic control unit.

[0029] In combination with the second aspect, in one embodiment, the first electronic control unit continuously sends detection messages to the first domain controller, and the detection messages carry the communication status of the second domain controller; when the first electronic control unit receives the response message sent by the first domain controller again and receives the response message within a preset second time period, it is determined that the first domain controller has recovered to a normal state; the first domain controller takes over the target electronic control unit again.

[0030] In combination with the second aspect, in one embodiment, the first electronic control unit will send a new message carrying the first domain controller being in a normal state to the second electronic control unit; the second electronic control unit will send the new message to the second domain controller so that the second domain controller can exit the takeover of the target electronic control unit based on the new message.

[0031] In a third aspect, an embodiment of the present application provides a domain control communication redundancy implementation device, wherein the domain control communication redundancy implementation device includes a processor, a memory, and a domain control communication redundancy implementation program stored in the memory and executable by the processor, wherein when the domain control communication redundancy implementation program is executed by the processor, the steps of the aforementioned domain control communication redundancy implementation method are implemented.

[0032] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a domain control communication redundancy implementation program is stored, wherein when the domain control communication redundancy implementation program is executed by a processor, the steps of the aforementioned domain control communication redundancy implementation method are implemented.

[0033] The beneficial effects brought by the technical solution provided by the embodiments of the present application include:

[0034] First, the first electronic control unit and the second electronic control unit in the EMB are controlled to be connected to the first domain controller and the second domain controller respectively, so as to detect whether the first domain controller where the detector is located fails through the first electronic control unit. If so, the first electronic control unit transmits the target failure information corresponding to the first domain controller to the second electronic control unit; and then transmits the target failure information to the second domain controller through the second electronic control unit, so that the second domain controller determines that the first domain controller is in a failed state through the target failure information, and then takes over the target electronic control unit under the first domain controller, so that the target electronic control unit can communicate with the central controller through the second domain controller. It can be seen that the present application realizes redundant communication between ECU and central controller when the domain controller fails by utilizing the dual-control redundancy characteristics of EMB (i.e., communication between the first electronic control unit and the second electronic control unit), which can not only avoid the degradation or failure of the whole vehicle function caused by the failure of the domain controller, but also does not need to change the hardware structure of the whole vehicle, thereby effectively reducing the communication redundancy cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a flow chart of an embodiment of a method for implementing domain control communication redundancy of the present application;

[0036] Figure 2 This is a schematic diagram of the EMB communication architecture involved in the embodiment of the present application;

[0037] Figure 3 This is a schematic diagram of the communication architecture when VIU_1 fails in the embodiment of the present application;

[0038] Figure 4 This is a schematic diagram of the communication architecture after VIU_1 involved in the embodiment of the present application returns to normal;

[0039] Figure 5 This is a schematic diagram of the hardware structure of the domain control communication redundancy implementation device involved in the embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0041] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0042] In a first aspect, an embodiment of the present application provides a method for implementing domain control communication redundancy.

[0043] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of an embodiment of the method for implementing domain control communication redundancy in this application. Figure 1 As shown, the domain control communication redundancy implementation method includes:

[0044] Step S10: Control the first electronic control unit and the second electronic control unit in the electronic mechanical brake system to be connected to the first domain controller and the second domain controller respectively.

[0045] Exemplarily, it can be understood that brake-by-wire is the development trend of new energy vehicle models, wherein the electronic mechanical braking system EMB includes two ECUs, and the two ECUs (i.e., EMB_ECU1 and EMB_ECU2) are respectively connected to two different domain controllers; in addition, in addition to communicating with other controllers through the domain controller, the two ECUs of the EMB can also communicate with each other through a private CAN (Controller Area Network) to achieve the purpose of mutual communication backup; and this embodiment will utilize the unique feature of the two ECUs in the EMB to achieve redundant communication between the ECU and the central controller when the domain controller fails.

[0046] For details, see Figure 2 As shown, the first electronic control unit EMB_ECU1 and the second electronic control unit EMB_ECU2 in the EMB are respectively mounted on the first domain controller VIU_1 and the second domain controller VIU_2; it should be noted that in addition to EMB_ECU1, the first domain controller VIU_1 also mounts other electronic control units with the same or similar communication requirements (such as ECU_1 to ECU_5), and all electronic control units belonging to the first domain controller VIU_1 communicate with the central controller through CAN bus through VIU_1; similarly, in addition to EMB_ECU2, the second domain controller VIU_2 also mounts other electronic control units with the same or similar communication requirements (such as ECU_6 to ECU_10), and all electronic control units belonging to the second domain controller VIU_2 communicate with the central controller through CAN bus through VIU_2.

[0047] Step S20: When the first electronic control unit detects that the first domain controller is in a failed state, the first electronic control unit transmits target failure information corresponding to the first domain controller to the second electronic control unit.

[0048] Exemplarily, in this embodiment, a detection message is sent to the first domain controller VIU_1 through the first electronic control unit EMB_ECU1 to detect whether the first domain controller VIU_1 is busoff (that is, the first domain controller VIU_1 loses the message forwarding and response functions). If so, it means that the first domain controller VIU_1 is in a communication failure state; at this time, the target failure information corresponding to the first domain controller VIU_1 can be transmitted to the second electronic control unit EMB_ECU2 through the private CAN communication between EMB_ECU1 and EMB_ECU2, so as to inform the second domain controller VIU_2 of the communication failure problem through the second electronic control unit EMB_ECU2, thereby triggering the communication redundancy function.

[0049] Furthermore, in one embodiment, before the step of detecting that the first domain controller is in a failed state by the first electronic control unit, the step further includes:

[0050] Sending a detection message to the first domain controller through the first electronic control unit, so that the first domain controller replies with a response message to the first electronic control unit based on the detection message, wherein the detection message carries the communication status of the second domain controller;

[0051] If it is detected that the first electronic control unit has not received the response message within a preset first time period, it is determined that the first domain controller is in a failed state;

[0052] If it is detected that the first electronic control unit has received the response message within a preset first time period, it is determined that the first domain controller is in a normal state, so as to realize communication between the target electronic control unit and the central controller through the first domain controller.

[0053] Exemplarily, in this embodiment, under normal circumstances, the first electronic control unit EMB_ECU1 sends a detection message carrying the communication status of the second domain controller VIU_2 to the first domain controller VIU_1 where it is located through the CAN bus at a fixed frequency f1, so as to report the communication status of the second domain controller VIU_2 to the first domain controller VIU_1; for example, if the detection message carries VIU_2No erro, it means that the communication of the second domain controller VIU_2 is normal, and if the detection message carries VIU_2erro, it means that the communication of the second domain controller VIU_2 fails.

[0054] After receiving the detection message, the first domain controller VIU_1 will reply a response message to the first electronic control unit EMB_ECU1, and the response message carries VIU_1VALID, so that the first ECU controller EMB_ECU1 knows that the communication of the first domain controller VIU_1 is normal. Therefore, if the first electronic control unit EMB_ECU1 receives the response message within the preset first duration T1, it is determined that the communication of the first domain controller VIU_1 is normal, and the first domain controller VIU_1 will control the communication of the ECU connected to it. It should be noted that the specific value setting of the first duration T1 can be determined according to actual needs and is not limited here.

[0055] At the same time, the first electronic control unit EMB_ECU1 will send a message carrying VIU_1no erro to the second electronic control unit EMB_ECU2 via the private CAN at a fixed frequency f2, so that the message will be forwarded to the second domain controller VIU_2 via the second electronic control unit EMB_ECU2; once the second domain controller VIU_2 receives the message, it will reply to the second electronic control unit EMB_ECU2 with a message carrying VIU_2VALID, so that the second electronic control unit EMB_ECU2 determines that the communication of the second domain controller VIU_2 is normal based on the message; the second electronic control unit EMB_ECU2 will send a message carrying VIU_2No erro to the first electronic control unit EMB_ECU1. It can be seen that the purpose of mutual monitoring between the two domain controllers can be achieved through the above cycle.

[0056] It should be understood that see Figure 3 As shown, when the first domain controller VIU_1 fails, the first electronic control unit EMB_ECU1 cannot receive the response message from the first domain controller VIU_1, then the first electronic control unit EMB_ECU1 will continue to send detection messages carrying VIU_2No erro to the first domain controller VIU_1 at a frequency of f1, and after the set duration T1 cycle, if it still cannot receive the response message sent by the first domain controller VIU_1, then the first electronic control unit EMB_ECU1 will determine that the communication of the first domain controller VIU_1 is abnormal.

[0057] Therefore, if the first electronic control unit EMB_ECU1 sends a detection message to the first domain controller VIU_1, and has not received a response message from the first domain controller VIU_1 within the first time period T1, it means that the first domain controller VIU_1 has a communication failure problem, and the first domain controller VIU_1 is determined to be in a failed state; at this time, it is necessary to send a message carrying target failure information such as VIU_1erro to the second electronic control unit EMB_ECU2, so as to inform the second domain controller VIU_2 through the second electronic control unit EMB_ECU2 that the first domain controller VIU_1 has a communication failure problem, so that the second domain controller VIU_2 triggers the communication redundancy function.

[0058] Step S30: transmitting the target failure information to the second domain controller through the second electronic control unit, so that the second domain controller can take over the target electronic control unit under the first domain controller based on the target failure information to achieve communication between the target electronic control unit and the central controller.

[0059] Exemplarily, in this embodiment, when the second electronic control unit EMB_ECU2 receives a message carrying VIU_1erro sent by the first electronic control unit EMB_ECU1, it will send the message to the second domain controller VIU_2, so that the second domain controller VIU_2 can learn from the VIU_1erro information in the message that the first domain controller VIU_1 has a communication failure problem; at this time, the second domain controller VIU_2 will take over other ECUs under the first domain controller VIU_1 (i.e., the target electronic control units, i.e., ECU_1 to ECU_5), and be responsible for forwarding the messages of each target electronic control unit to the central controller and receiving the vehicle messages containing sensor information sent by the central controller, and replying to each target ECU through the private CAN, and then restoring the communication between each target ECU under the first domain controller VIU_1, thereby achieving the purpose of failure of the first domain controller VIU_1 but not losing the function of the whole vehicle.

[0060] It should be understood that EMB_ECU1 and EMB_ECU2 monitor each other. If communication abnormality of the second domain controller VIU_2 is detected, it can also be forwarded to EMB_ECU1 through the private CAN, and then forwarded to the vehicle network through the first domain controller VIU_1VIU_1 to communicate with the vehicle ECU; it should be noted that since the communication redundancy implementation method and principle after the failure of the second domain controller VIU_2 are similar to the communication redundancy implementation method and principle after the failure of the first domain controller VIU_1, they will not be repeated here for the sake of brevity.

[0061] It can be seen that this embodiment realizes redundant communication between ECU and central controller when domain controller fails by utilizing the dual-control redundancy feature of EMB (i.e., communication between the first electronic control unit and the second electronic control unit), which can not only avoid the degradation or failure of vehicle functions caused by failure of domain controller, but also effectively improve user experience, and there is no need to change the hardware structure of the whole vehicle, thereby effectively reducing the communication redundancy cost. Specifically, when the domain controller VIU_1 of EMB_ECU1 is busoff, EMB_ECU1 sends the communication information of other ECUs under the domain controller to EMB_ECU2 through private CAN; after EMB_ECU2 receives the communication information, it sends the communication information to the central controller through its domain controller VIU_2 to interact with the whole vehicle, so that the whole vehicle can communicate normally and function normally, thereby avoiding the situation that the whole vehicle function is abnormal due to the inability to receive the communication information of ECU under VIU_1.

[0062] Furthermore, in one embodiment, after the step of the second domain controller taking over the target electronic control unit under the first domain controller based on the target failure information, the method further includes:

[0063] forwarding the message sent by the target electronic control unit to the central controller through the second domain controller, and forwarding the reply message of the central controller to the second electronic control unit;

[0064] The reply message is sent to the first electronic control unit through the second electronic control unit, so that the reply message is transmitted to the target electronic control unit based on the first electronic control unit.

[0065] Exemplarily, in this embodiment, after the target electronic control unit under the first domain controller VIU_1 is taken over by the second domain controller VIU_2, the message that originally needs to be sent to the first domain controller VIU_1 will be sent to the second domain controller VIU_2 through the first electronic control unit EMB_ECU1 and the second electronic control unit EMB_ECU2 in sequence; after receiving the message, the second domain controller VIU_2 will forward the message to the central controller, so that the central controller generates a reply message based on the message; then the second domain controller VIU_2 continues to send the reply message to the target ECU through the second electronic control unit EMB_ECU2 and the first electronic control unit EMB_ECU1 in sequence, so that in the event of failure of the first domain controller VIU_1, data interaction between the target electronic control unit and the central controller can still be achieved, thereby avoiding the degradation or failure of some functions of the whole vehicle due to the failure of the VIU controller.

[0066] Furthermore, in one embodiment, after the step of the second domain controller taking over the target electronic control unit under the first domain controller based on the target failure information to achieve communication between the target electronic control unit and the central controller, the step further includes:

[0067] Continuously sending a detection message to the first domain controller through the first electronic control unit, wherein the detection message carries the communication status of the second domain controller;

[0068] When it is detected that the first electronic control unit re-receives the response message sent by the first domain controller and receives the response message within a preset second time period, it is determined that the first domain controller is restored to a normal state;

[0069] Control the first domain controller to take over the target electronic control unit again.

[0070] For example, see Figure 4 As shown, during the failure of the first domain controller VIU_1, the first electronic control unit EMB_ECU1 will continue to send the detection message carrying VIU_2No erro to the first domain controller VIU_1. Once the response message carrying VIU_1VALID sent by the first domain controller VIU_1 is received again, and the response message can still be received after the set second time length T2 cycle, it is determined that the first domain controller VIU_1 has resumed communication; at this time, the first domain controller VIU_1 will take over the target electronic control unit again, and inform the second domain controller VIU_2 to exit the takeover of the target electronic control unit through the first electronic control unit EMB_ECU1 and the second electronic control unit EMB_ECU2 in turn, that is, the target electronic control unit and the second domain controller VIU_2 will no longer communicate. It should be noted that the specific value setting of the second time length T2 can be determined according to actual needs and is not limited here.

[0071] Furthermore, in one embodiment, after the step of controlling the first domain controller to take over the target electronic control unit again, the step further includes:

[0072] Sending, by the first electronic control unit, a new message carrying the first domain controller being in a normal state to the second electronic control unit;

[0073] The new message is sent to the second domain controller through the second electronic control unit, so that the second domain controller quits taking over the target electronic control unit based on the new message.

[0074] Exemplarily, in this embodiment, after the first electronic control unit EMB_ECU1 determines that the first domain controller VIU_1 has resumed communication, it will forward a new message carrying VIU_1No erro to the second electronic control unit EMB_ECU2 through the private CAN, and then the second electronic control unit EMB_ECU2 will forward it to the second domain controller VIU_2, so that the second domain controller VIU_2 can learn from this new message that the first domain controller VIU_1 has returned to normal; at this time, the second domain controller VIU_2 will exit the communication interaction with other ECUs under the first domain controller VIU_1, and the two ECUs in the EMB will enter the loop state of mutual monitoring again to ensure the normal execution of the vehicle functions.

[0075] In summary, this embodiment uses the message forwarding function of the ECU in the EMB to achieve data interaction between different domain controls. For example, when the first domain controller VIU_1 has a busoff and both EMB_ECUs are normal, communication between the first domain controller VIU_1 and the second domain controller VIU_2 can be achieved through the private CAN. Then, other ECUs on the same link in the first domain controller VIU_1 can resume normal communication through the communication link <EMB_ECU1--private CAN--EMB_ECU2--VIU_2--central controller>. Therefore, in terms of function, this embodiment can improve the communication redundancy of the VIU controller in the domain where the EMB controller is located, which is beneficial to improving the reliability of other controllers on the same domain CAN line, thereby avoiding partial function degradation or failure of the vehicle due to VIU failure; in terms of convenience, while using the dual-control redundancy feature of the EMB controller to improve VIU communication redundancy, this embodiment does not require changing the vehicle hardware architecture, which can not only reduce costs but also be easy to implement.

[0076] In a second aspect, the embodiment of the present application also provides a device for implementing domain control communication redundancy.

[0077] In one embodiment, the device for implementing domain control communication redundancy includes: a first electronic control unit connected to the first domain controller and a second electronic control unit connected to the second domain controller, and the first electronic control unit and the second electronic control unit belong to the electronic mechanical braking system;

[0078] When the first electronic control unit detects that the first domain controller is in a failure state, it will transmit the target failure information corresponding to the first domain controller to the second electronic control unit;

[0079] The second electronic control unit will transmit the target failure information to the second domain controller;

[0080] The second domain controller takes over the target electronic control unit under the first domain controller based on the target failure information to achieve communication between the target electronic control unit and the central controller.

[0081] Furthermore, in one embodiment, the first electronic control unit sends a detection message to the first domain controller; the first domain controller replies with a response message to the first electronic control unit based on the detection message, and the detection message carries the communication status of the second domain controller; if the first electronic control unit does not receive the response message within a preset first time period, it is determined that the first domain controller is in an invalid state; if the first electronic control unit has received the response message within the preset first time period, it is determined that the first domain controller is in a normal state, so as to realize communication between the target electronic control unit and the central controller through the first domain controller.

[0082] Furthermore, in one embodiment, the second domain controller forwards the message sent by the target electronic control unit to the central controller, and forwards the reply message of the central controller to the second electronic control unit; the second electronic control unit sends the reply message to the first electronic control unit; the first electronic control unit transmits the reply message to the target electronic control unit.

[0083] Furthermore, in one embodiment, the first electronic control unit continuously sends detection messages to the first domain controller, and the detection messages carry the communication status of the second domain controller; when the first electronic control unit receives the response message sent by the first domain controller again and receives the response message within a preset second time period, it is determined that the first domain controller has recovered to a normal state; and the first domain controller takes over the target electronic control unit again.

[0084] Furthermore, in one embodiment, the first electronic control unit will send a new message carrying the first domain controller being in a normal state to the second electronic control unit; the second electronic control unit will send the new message to the second domain controller so that the second domain controller can exit the takeover of the target electronic control unit based on the new message.

[0085] Among them, the functional implementation of each module in the above-mentioned domain control communication redundancy implementation device corresponds to the steps in the above-mentioned domain control communication redundancy implementation method embodiment, and its functions and implementation processes are no longer repeated here one by one.

[0086] In a third aspect, an embodiment of the present application provides a domain control communication redundancy implementation device, which may be a personal computer (PC), a laptop computer, a server, or other device with data processing capabilities.

[0087] Reference Figure 5 , Figure 5 The hardware structure diagram of the domain control communication redundancy implementation device involved in the embodiment of the present application is shown in FIG. In the embodiment of the present application, the domain control communication redundancy implementation device may include a processor, a memory, a communication interface, and a communication bus.

[0088] The communication bus may be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0089] The communication interface includes input / output (I / O) interface, physical interface and logical interface, etc., which are used to interconnect the devices inside the domain control communication redundancy implementation device, and the interface used to interconnect the domain control communication redundancy implementation device with other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber optic interface, an ATM interface, etc.; the user device can be a display, a keyboard, etc.

[0090] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0091] The processor may be a general-purpose processor, and the general-purpose processor may call the domain control communication redundancy implementation program stored in the memory and execute the domain control communication redundancy implementation method provided in the embodiment of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the domain control communication redundancy implementation program is called may refer to the various embodiments of the domain control communication redundancy implementation method of the present application, and will not be repeated here.

[0092] Those skilled in the art will understand that Figure 5 The hardware structure shown in the figure does not constitute a limitation on the present application, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0093] In a fourth aspect, an embodiment of the present application also provides a computer-readable storage medium.

[0094] The readable storage medium of the present application stores a domain control communication redundancy implementation program, wherein when the domain control communication redundancy implementation program is executed by a processor, the steps of the domain control communication redundancy implementation method as described above are implemented.

[0095] Among them, the method implemented when the domain control communication redundancy implementation program is executed can refer to the various embodiments of the domain control communication redundancy implementation method of the present application, and will not be repeated here.

[0096] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0097] The terms "including" and "having" and any variations thereof in the specification and claims of the present application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to different types.

[0098] In the description of the embodiments of the present application, "exemplary", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "for example" or "for example" is intended to present related concepts in a specific way.

[0099] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; the “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0100] In some processes described in the embodiments of the present application, multiple operations or steps that appear in a specific order are included, but it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or in parallel, and the sequence number of the operation is only used to distinguish the different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0101] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present application.

[0102] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for implementing domain control communication redundancy, characterized in that: The following steps are involved: Controlling a first electronic control unit and a second electronic control unit in an electronic mechanical brake system, which are respectively connected to a first domain controller and a second domain controller; When the first domain controller is detected to be in a failure state by the first electronic control unit, the target failure information corresponding to the first domain controller is transmitted to the second electronic control unit by the first electronic control unit; The target failure information is transmitted to the second domain controller through the second electronic control unit, so that the second domain controller can take over the target electronic control unit under the first domain controller based on the target failure information to achieve communication between the target electronic control unit and the central controller.

2. The method for implementing domain control communication redundancy according to claim 1, characterized in that: Before the step of detecting that the first domain controller is in a failed state by the first electronic control unit, the method further includes: Sending a detection message to the first domain controller through the first electronic control unit, so that the first domain controller replies with a response message to the first electronic control unit based on the detection message, wherein the detection message carries the communication status of the second domain controller; If it is detected that the first electronic control unit has not received the response message within a preset first time period, it is determined that the first domain controller is in a failed state; If it is detected that the first electronic control unit has received the response message within a preset first time period, it is determined that the first domain controller is in a normal state, so as to realize communication between the target electronic control unit and the central controller through the first domain controller.

3. The method for implementing domain control communication redundancy according to claim 1, characterized in that: After the step of the second domain controller taking over the target electronic control unit under the first domain controller based on the target failure information, the method further includes: forwarding the message sent by the target electronic control unit to the central controller through the second domain controller, and forwarding the reply message of the central controller to the second electronic control unit; The reply message is sent to the first electronic control unit through the second electronic control unit, so that the reply message is transmitted to the target electronic control unit based on the first electronic control unit.

4. The method for implementing domain control communication redundancy according to claim 1, characterized in that: After the step of the second domain controller taking over the target electronic control unit under the first domain controller based on the target failure information to realize the communication between the target electronic control unit and the central controller, the method further includes: Continuously sending a detection message to the first domain controller through the first electronic control unit, wherein the detection message carries the communication status of the second domain controller; When it is detected that the first electronic control unit re-receives the response message sent by the first domain controller and receives the response message within a preset second time period, it is determined that the first domain controller is restored to a normal state; Control the first domain controller to take over the target electronic control unit again.

5. The method for implementing domain control communication redundancy according to claim 4, characterized in that: After the step of controlling the first domain controller to take over the target electronic control unit again, the method further includes: Sending, by the first electronic control unit, a new message carrying the first domain controller being in a normal state to the second electronic control unit; The new message is sent to the second domain controller through the second electronic control unit, so that the second domain controller quits taking over the target electronic control unit based on the new message.

6. A device for realizing domain control communication redundancy, characterized in that: include: A first electronic control unit connected to the first domain controller and a second electronic control unit connected to the second domain controller, wherein the first electronic control unit and the second electronic control unit belong to the same electronic mechanical braking system; When the first electronic control unit detects that the first domain controller is in a failed state, transmitting target failure information corresponding to the first domain controller to the second electronic control unit; The second electronic control unit transmits the target failure information to the second domain controller; The second domain controller takes over the target electronic control unit under the first domain controller based on the target failure information to achieve communication between the target electronic control unit and the central controller.

7. The domain control communication redundancy implementation device according to claim 6, characterized in that: The first electronic control unit sends a detection message to the first domain controller; The first domain controller replies a response message to the first electronic control unit based on the detection message, wherein the detection message carries a communication status of the second domain controller; If the first electronic control unit does not receive the response message within a preset first time period, it is determined that the first domain controller is in a failed state; If the first electronic control unit has received the response message within a preset first time period, it is determined that the first domain controller is in a normal state, so as to realize communication between the target electronic control unit and the central controller through the first domain controller.

8. The domain control communication redundancy implementation device according to claim 6, characterized in that: The second domain controller forwards the message sent by the target electronic control unit to the central controller, and forwards the reply message of the central controller to the second electronic control unit; The second electronic control unit sends the reply message to the first electronic control unit; The first electronic control unit transmits the reply message to the target electronic control unit.

9. A domain control communication redundancy implementation device, characterized in that: The domain control communication redundancy implementation device includes a processor, a memory, and a domain control communication redundancy implementation program stored in the memory and executable by the processor, wherein when the domain control communication redundancy implementation program is executed by the processor, the steps of the domain control communication redundancy implementation method as described in any one of claims 1 to 5 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a domain control communication redundancy implementation program, wherein when the domain control communication redundancy implementation program is executed by a processor, the steps of the domain control communication redundancy implementation method according to any one of claims 1 to 5 are implemented.

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