Unmanned vehicle and domain controller thereof

Abstract

The invention discloses a domain controller for an unmanned vehicle, and the domain controller comprises an interface module which is used for plugging different types of operation execution mechanisms; the transmission module can be in communication connection with the operation execution mechanism; the first control module is respectively connected with the interface module and the transmission module, when the operation execution mechanism accesses the interface module, the transmission module obtains the operation task type of the operation execution mechanism sent by the operation execution mechanism, and the first control module determines a corresponding operation task according to the operation task type and transmits the operation task to the interface module; and switching to a control program corresponding to the operation task. The unmanned vehicle domain controller can be connected to different types of operation execution mechanisms so as to meet different operation execution task scenes of the unmanned vehicle.

Description

Technical Field

[0001] The present application relates to the field of unmanned vehicle technology, and in particular to an unmanned vehicle and a domain controller thereof. Background Art

[0002] With the development of unmanned driving technology, there are more and more application scenarios. For example, a watering operation execution mechanism is installed on the upper interface of an unmanned vehicle to complete the automatic watering operation task, or a cleaning operation execution mechanism is installed on the upper interface of an unmanned vehicle to complete the automatic cleaning operation task. In the relevant technical solutions, the functions and interfaces of different types of operation execution mechanisms vary greatly. The upper interface mechanism installed on the unmanned vehicle cannot cope with the scenarios that require different operation execution mechanisms, resulting in poor adaptability of the unmanned vehicle to the operation scenarios. Summary of the invention

[0003] The purpose of this application is to provide a domain controller for unmanned vehicles that can be connected to different types of operation execution mechanisms to meet the scenarios of different operation execution tasks of unmanned vehicles.

[0004] Based on the above-mentioned purpose, the present application provides a domain controller for an unmanned vehicle, the domain controller comprising an interface module, a transmission module and a first control module; wherein the interface module is used to plug in different types of job execution mechanisms, the transmission module can communicate with the job execution mechanism, and the first control module is connected to the interface module and the transmission module respectively. When the job execution mechanism is connected to the interface module, the transmission module obtains the job task type of the job execution mechanism sent by the job execution mechanism, and the first control module determines the corresponding job task according to the job task type, and switches to the control program corresponding to the job task.

[0005] Furthermore, the interface module includes a trigger signal interface. When the job execution mechanism is connected to the interface module, the trigger signal interface outputs a level signal to the first control module. After receiving the level signal, the first control module switches the first control module from sleep mode to working mode.

[0006] Furthermore, the job execution mechanism includes a job execution controller, and the interface module includes a power interface. When the first control module is in the working mode, the power interface provides power to the job execution controller.

[0007] Furthermore, the job execution mechanism includes a job execution controller, which stores the mechanism key of the job execution mechanism itself. The domain controller also includes a storage module, which can store the mechanism key of the job execution mechanism, wherein the transmission module can send the upper authentication request sent by the job execution controller to the first control module; the first control module can generate a random number based on the upper authentication request, and send the random number to the job execution controller through the transmission module; the job execution controller can generate encrypted data to be verified based on the random number and the mechanism key of the job execution mechanism itself, and transmit the encrypted data to be verified to the first control module; the first control module can encrypt the random number with each stored mechanism key to generate multiple pre-stored encrypted data respectively; the first control module can also match the encrypted data to be verified with the pre-stored encrypted data one by one. If the match is successful, the first control module generates authentication success information and sends it to the job execution controller through the transmission module.

[0008] Furthermore, when it is determined that the access authentication of the job execution agency is passed, the transmission module receives the job task type of the job execution agency sent by the job execution controller, the first control module determines the corresponding job task based on the job task type, and switches to the control program corresponding to the job task.

[0009] Furthermore, the transmission module includes a CAN communication unit and a LIN communication unit. The first control module selects one of the CAN communication unit and the LIN communication unit according to the type of the job task of the job execution agency, and establishes a communication connection with the job execution agency.

[0010] Furthermore, the domain controller further includes a second control module and a mobile communication module, the mobile communication module can be connected to the cloud platform for communication, the second control module is connected to the mobile communication module, the second control module can receive remote control instructions from the cloud platform through the mobile communication module, and forward the remote control instructions to the first control module; the first control module sends the remote control instructions to the job execution mechanism through the transmission module, so that the cloud platform can remotely control the job execution mechanism; and / or,

[0011] The domain controller also includes a Bluetooth communication module, which can communicate with the remote control device. The second control module is connected to the Bluetooth communication module. The second control module can receive remote control instructions from the remote control device through the Bluetooth communication module and forward the remote control instructions to the first control module. The first control module sends the remote control instructions to the job execution agency through the transmission module, so that the remote control device can remotely control the job execution agency.

[0012] Furthermore, the unmanned vehicle also includes a driving domain controller, the domain controller also includes a second control module and an Ethernet communication module, the Ethernet communication module is connected to the driving domain controller, the second control module is connected to the Ethernet communication module, the second control module can receive control instructions from the driving domain controller through the Ethernet communication module, and forward the control instructions to the first control module, the first control module sends the control instructions to the operation execution agency through the transmission module, so that the driving domain controller can control the operation execution agency.

[0013] Furthermore, the domain controller also includes a lighting high-side driver module, the unmanned vehicle also includes a headlight assembly, the first control module is connected to the lighting high-side driver module, the lighting high-side driver module is connected to the headlight assembly, the first control module controls the turning on and off of the headlight assembly by controlling the lighting high-side driver module, obtains the driving current of the lighting high-side driver module, and determines the headlight fault state of the headlight assembly according to the driving current.

[0014] Based on the above-mentioned purpose, the present application provides an unmanned vehicle, including the domain controller and job execution mechanism as described above, the job execution mechanism includes a job execution controller, the job execution controller is connected to the domain controller, when the job execution mechanism is connected to the domain controller, the job execution controller sends the job task type of the job execution mechanism to the domain controller, the domain controller determines the corresponding job task based on the job task type, and switches to the control program corresponding to the job task.

[0015] The unmanned vehicle and its domain controller in this application can be connected to different types of operation execution mechanisms, which can meet the scenarios of different operation execution tasks of the unmanned vehicle, making the application range of the unmanned vehicle's operation tasks wider. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a first system block diagram of a domain controller for an unmanned vehicle provided by the present application;

[0017] Figure 2 is a second system block diagram of a domain controller for an unmanned vehicle provided by the present application;

[0018] Figure 3 is a third system block diagram of a domain controller for an unmanned vehicle provided in the present application;

[0019] Figure 4 is a fourth system block diagram of a domain controller for an unmanned vehicle provided in the present application;

[0020] Figure 5 is a fifth system block diagram of a domain controller for an unmanned vehicle provided in the present application;

[0021] Figure 6is a sixth system block diagram of a domain controller for an unmanned vehicle provided in the present application;

[0022] Figure 7 is a seventh system block diagram of a domain controller for an unmanned vehicle provided in the present application;

[0023] Figure 8 is an eighth system block diagram of a domain controller for an unmanned vehicle provided in the present application;

[0024] Fig. 9 is a ninth system block diagram of a domain controller for an unmanned vehicle provided in the present application;

[0025] Fig.10 is a tenth system block diagram of a domain controller for an unmanned vehicle provided in the present application;

[0026] Fig.11 This is the eleventh system block diagram of a domain controller for an unmanned vehicle provided in this application. DETAILED DESCRIPTION

[0027] The present application will be described in detail below in conjunction with the specific implementation modes shown in the accompanying drawings, but these implementation modes do not limit the present application. Any changes in the mechanisms, methods, or functions made by ordinary technicians in the field based on these implementation modes are included in the protection scope of the present application.

[0028] The domain controller, or domain control unit, is referred to as DCU (Domain Control Unit) or DCM (Domain Control Module), etc. The so-called "domain" is to divide the automotive electronic system into several functional blocks according to the function. Each functional block can be called a domain, such as the whole vehicle domain, body domain, intelligent driving domain, human-computer interaction domain, etc. The use of a domain control unit can reduce the number of ECUs in the car and reduce the complexity of the system. Among them, each domain has a domain controller, including one or more processors, which are responsible for processing and forwarding functions within the domain. Devices or modules within the domain generally use low-speed communication connections, and high-speed communication connections are used between domain control units. It is explained here that the division of domains is not unique. For example, the whole vehicle domain is also divided into the power domain and the chassis domain by manufacturers. For example, it is divided into the vehicle control domain, the intelligent driving domain and the intelligent cockpit domain.

[0029] Please refer to Figure 1, the embodiment of the present application is a domain controller 11 for an unmanned vehicle 100. The domain controller 11 provided in the embodiment of the present application includes an interface module 111, a transmission module 112 and a first control module 113. The domain controller 11 is arranged in the unmanned vehicle 100. The interface module 111 can be plugged with different types of operation execution mechanisms 200. The transmission module 112 can be connected to the operation execution mechanism 200 for communication. The first control module 113 is connected to the interface module 111 and the transmission module 112 respectively. When the operation execution mechanism 200 is connected to the interface module 111, the transmission module 112 obtains the operation task type of the operation execution mechanism 200 sent by the operation execution mechanism 200. The first control module 113 determines the corresponding operation task according to the operation task type, and switches to the control program corresponding to the operation task. The operation execution mechanism 200 is an external execution mechanism for the unmanned vehicle 100, and each execution mechanism can complete the corresponding operation task. The interface module 111 is a universal interface that can be connected to various types of operation execution agencies 200. The interface can be adapted to connect to different types of operation execution agencies 200. The unmanned vehicle 100 can connect to different types of operation execution agencies 200 through the interface module 111 of the domain controller 11. For example, the interface module 111 can connect to the operation execution agency for watering, and the interface module 111 can also connect to the operation execution agency for cleaning. When different operation execution agencies 200 are connected, the domain controller 11 can determine the corresponding operation task according to the operation task type of the connected operation execution agency 200, and switch to the control program corresponding to the operation task. For example, when the operation execution agency for watering is connected to the interface module 111, the transmission module 112 obtains the operation task type of the operation execution agency 200 as automatic watering, and the first control module 113 executes the control program for automatic watering. For another example, when the operation execution agency for cleaning is connected to the interface module 111, the transmission module 112 obtains the operation task type of the operation execution agency 200 as automatic cleaning, and the first control module 113 executes the control program for automatic cleaning. Through the interface module 111 of the domain controller 11, the unmanned vehicle 100 can be externally connected to different types of operation execution mechanisms 200, which can meet the scenarios of different operation execution tasks, making the application range of the operation tasks of the unmanned vehicle 100 wider and improving the user experience and convenience.

[0030] As an optional implementation, Figure 2As shown, the interface module 111 includes a trigger signal interface 1111. When the job execution mechanism 200 is connected to the interface module 111, the trigger signal interface 1111 outputs a level signal to the first control module 113. After the first control module 113 receives the level signal, it switches the first control module 113 from the sleep mode to the working mode. The first control module 113 is set to the sleep mode, so that the first control module 113 is in a low power consumption state, thereby reducing the resource consumption of the domain controller 11. When the job execution mechanism 200 is connected to the interface module 111, the first control module 113 is awakened and the first control module 113 enters the working mode. For example, when the job execution mechanism 200 is connected to the interface module 111, the trigger signal interface 1111 outputs a low level signal to the first control module 113, and the low level signal enables the first control module 113 to switch from the sleep mode to the working mode, thereby putting the first control module 113 into the working state.

[0031] It is understandable that the first control module 113 can be a processor or can include a processor. The processor can be a general-purpose processor, which can be a processor that performs specific steps and / or operations by reading and executing a computer program stored in a memory, and the general-purpose processor may use data stored in the memory in the process of performing the steps and / or operations. The general-purpose processor can be, for example, but not limited to, a central processing unit (CPU). In addition, the processor can also be a dedicated processor, which can be a processor specially designed to perform specific steps and / or operations, and the dedicated processor can be, for example, but not limited to, ASIC and FPGA, etc. In addition, the processor can also be a combination of multiple processors, such as a multi-core processor.

[0032] As an optional implementation, Figure 2 As shown, the operation execution mechanism 200 includes an operation execution controller 21, and the interface module 111 includes a power interface 1112. When the first control module 113 is in working mode, power is provided to the operation execution controller 21 through the power interface 1112. The ground of the operation execution controller 21 is connected to the ground of the unmanned vehicle 100. The power supply of the operation execution controller 21 is provided by the domain controller 11, which can reduce the design of the power management of the operation execution controller 21. The mechanism device of the operation execution mechanism 200 generally requires high-power drive, and the power supply of the mechanism device is provided by its own large battery or high-voltage battery pack.

[0033] In the present application, the interface module 111 includes a trigger signal interface 1111 and a power interface 1112, and the level signal of the trigger signal interface 1111 can effectively determine that the operation execution mechanism 200 is connected to the domain controller 11. The signal structure of the interface module 111 is simple and universal, which can not only be applied to different types of operation execution mechanisms 200, but also the number of signals interacting between the interface module 111 and the operation execution mechanism 200 is small, thereby making the design of the domain controller 11 simpler and more convenient.

[0034] As an optional implementation, Figure 3As shown, the job execution controller 21 stores the mechanism key of the job execution mechanism 200 itself. For example, the key may be an ESK code. The domain controller 11 includes a storage module 114, which stores the mechanism key of each job execution mechanism. In order to prevent the job execution mechanism 200 from illegally accessing the unmanned vehicle 100, it is necessary to perform an authentication operation on the accessed job execution mechanism 200. The authentication operation includes: when the job execution mechanism 200 accesses the interface module 111, the interface module 111 outputs a level signal to the first control module 113, so that the first control module 113 switches from the sleep mode to the working mode. When the first control module 113 is in the working mode, power is provided to the job execution controller 21 through the power interface 1112. After the job execution controller 21 is powered on, the job execution controller 21 sends an upper authentication request to the transmission module 112. After receiving the upper authentication request, the transmission module 112 forwards the upper authentication request to the first control module 113. The first control module 113 receives the authentication request, generates a random number according to the authentication request, and sends the random number to the transmission module 112. The transmission module 112 receives the random number and sends it to the job execution controller 21. After receiving the random number, the job execution controller 21 generates encrypted data to be verified by using the random number and the mechanism key of the job execution mechanism 200 itself, and sends the encrypted data to be verified to the transmission module 112. The transmission module 112 receives the encrypted data to be verified and forwards it to the first control module 113. The first control module 113 encrypts the random number with each stored mechanism key to generate a plurality of pre-stored encrypted data, and matches the encrypted data to be verified with the pre-stored encrypted data one by one. If the match is successful, it is determined that the access of the job execution mechanism 200 is legitimate, and the information of successful authentication is generated and sent to the transmission module 112. The transmission module 112 sends the information of successful authentication to the job execution controller 21. The legal access authentication between the job execution mechanism 200 and the domain controller 11 is completed, and the job execution mechanism 200 is determined to be a legitimate execution mechanism. Through the security authentication between the work execution agency 200 and the domain controller 11, it can be ensured that only the authenticated work execution agency 200 can access the unmanned vehicle 100 and perform the corresponding work tasks, so as to prevent illegal work execution agencies from accessing the unmanned vehicle 100 and provide security for the unmanned vehicle 100.

[0035] The storage module 114 may be a memory. The memory may be various types of storage media, such as random access memory (RAM), read only memory (ROM), non-volatile RAM (NVRAM), programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), flash memory, optical storage, registers, etc. The memory may include a hard disk and / or a memory.

[0036] As an optional implementation, when it is determined that the access authentication of the operation execution mechanism 200 is passed, the operation execution controller 21 sends the operation task type of the operation execution mechanism 200 to the transmission module 112. The transmission module 112 forwards the received operation task type of the operation execution mechanism 200 to the first control module 113. The first control module 113 receives the operation task type, determines the corresponding operation task based on the operation task type, and switches to the control program corresponding to the operation task, so as to meet the scenarios where the unmanned vehicle 100 performs different operation tasks.

[0037] As an optional implementation, Figure 4 As shown, the transmission module 112 includes a CAN communication unit 1121 and a LIN communication unit 1122. The first control module 113 selects one of the CAN communication unit 1121 and the LIN communication unit 1122 according to the type of the job task of the job execution mechanism 200, and communicates with the job execution mechanism 200. For example, when the control mechanism of the job execution mechanism 200 is complex and the amount of interactive data between it and the domain controller 11 is relatively large, the CAN communication method can be selected. When the control mechanism of the job execution mechanism 200 is simple and the amount of interactive data between it and the domain controller 11 is relatively small, the LIN communication method can be selected. Based on the type of the job execution mechanism 200, the transmission module 112 can select different communication methods, which can not only better adapt to the job execution mechanism 200, but also consider the cost plan of the product.

[0038] As an optional implementation, Figure 5As shown, the domain controller 11 also includes a second control module 115 and a mobile communication module 116. The mobile communication module 116 can be connected to the cloud platform 300 for communication, and the second control module 115 is connected to the mobile communication module 116. The mobile communication module 116 receives the remote control instruction from the cloud platform 300, and the second control module 115 forwards the remote control instruction to the first control module 113, and the first control module 113 sends the remote control instruction to the transmission module 112. The transmission module 112 sends the remote control instruction to the job execution controller 21 in the job execution mechanism 200. After receiving the remote control instruction, the job execution controller 21 performs the corresponding action according to the remote control instruction. The mobile communication module 116 is set to at least one of the following: 3G module, 4G module, 5G module. Through the data signal interaction between the cloud platform 300, the mobile communication module 116, the second control module 115, the first control module 113, the transmission module 112 and the job execution controller 21, the cloud platform 300 can remotely control the job execution mechanism 200 so that the job execution mechanism 200 performs corresponding operations, thereby realizing intelligent operation of the job execution mechanism 200.

[0039] As an optional implementation, Figure 5 As shown, the domain controller 11 also includes a Bluetooth communication module 117, which can be connected to the remote control device 400 by communication, and the second control module 115 is connected to the Bluetooth communication module 117 by Bluetooth communication. The Bluetooth communication module 117 receives the remote control instruction from the remote control device 400, and the second control module 115 forwards the remote control instruction to the first control module 113, and the first control module 113 sends the remote control instruction to the transmission module 112. The transmission module 112 sends the remote control instruction to the job execution controller 21 in the job execution mechanism 200. After receiving the remote control instruction, the job execution controller 21 performs the corresponding action according to the remote control instruction. Through the data signal interaction between the remote control device 400, the Bluetooth communication module 117, the second control module 115, the first control module 113, the transmission module 112 and the job execution controller 21, the remote control device 400 can remotely control the job execution mechanism 200, so that the job execution mechanism 200 performs the corresponding operation, and the intelligent operation of the job execution mechanism 200 is realized.

[0040] As an optional implementation, Figure 5As shown, the unmanned vehicle 100 also includes a driving domain controller 12, and the domain controller 11 also includes an Ethernet communication module 118. The Ethernet communication module 118 is connected to the driving domain controller 12, and the second control module 115 is connected to the Ethernet communication module 118. The Ethernet communication module 118 receives the control instruction from the driving domain controller 12, the second control module 115 forwards the control instruction to the first control module 113, the first control module 113 forwards the control instruction to the transmission module 112, and the transmission module 112 sends the control instruction to the operation execution controller 21 in the operation execution mechanism 200. After receiving the control instruction, the operation execution controller 21 performs the corresponding action according to the control instruction. Through the data signal interaction between the driving domain controller 12, the Ethernet communication module 118, the second control module 115, the first control module 113, the transmission module 112 and the operation execution controller 21, the driving domain controller 12 can remotely control the operation execution mechanism 200, so that the operation execution mechanism 200 performs the corresponding operation, and the intelligent operation of the operation execution mechanism 200 is realized.

[0041] As an optional implementation, Figure 6As shown, the domain controller 11 also includes a light high-side driver module 119, and the unmanned vehicle 100 also includes a headlight assembly 13. The first control module 113 is connected to the light high-side driver module 119, and the light high-side driver module 119 is connected to the headlight assembly 13. The first control module 113 controls the on and off of the headlight assembly 13 by controlling the light high-side driver module 119, and obtains the driving current of the light high-side driver module 119, and determines the headlight fault state of the headlight assembly 13 according to the driving current. The light high-side driver module 119 includes a plurality of high-side driver chips, each of which is connected to each headlight of the headlight assembly 13, and the headlights include low beam lights, high beam lights, turn signals, position lights, brake lights, reversing lights, rear fog lights, etc. The first control module 113 is connected to each high-side driver chip through an SPI interface, controls each high-side driver chip to drive the corresponding headlight on and off, and reads the driving current of each high-side driver chip, determines the fault state of the corresponding headlight according to the driving current, and prompts the headlight fault state. For example, taking a 21W bulb as an example, if the obtained driving current is 1A-2A, the first control module 113 determines that the lamp has no fault. If the obtained driving current is less than 0.8A, the first control module 113 determines that the lamp is short-circuited. The reason for the short-circuit may be caused by a blown bulb or poor contact of the line. If the obtained driving current is greater than 2.5A but does not reach the current that triggers the protection, the first control module 113 determines that the lamp is overcurrent. The reason for the overcurrent may be a partial short circuit in the line. If the obtained driving current reaches the current that triggers the protection, the first control module 113 determines that the lamp is short-circuited. The reason for the short circuit may be a short circuit in the line. By judging the fault state of the lamp based on the obtained driving current of the high-side driver chip, it is possible to monitor whether the light is working normally, reduce the probability of failure, and perform fault diagnosis in time so that it can be repaired as soon as possible.

[0042] Please refer to Figure 7 The present application also provides an unmanned vehicle 500, which includes a domain controller 11 and a job execution mechanism 200, wherein the job execution mechanism 200 includes a job execution controller 21, which is connected to the domain controller 11. When the job execution mechanism 200 is connected to the domain controller 11, the job execution controller 21 sends the job task type of the job execution mechanism 200 to the domain controller 11, and the domain controller 11 determines the corresponding job task based on the job task type and switches to the control program corresponding to the job task. Through the signal interaction between the job execution controller 21 and the domain controller 11, the domain controller 11 can control the job execution mechanism 200 in different types to execute the corresponding job task.

[0043] As an optional implementation, Figure 7As shown, the job execution controller 21 also includes an execution side interface module 211, and the execution side interface module 211 includes an execution side trigger signal interface 2111. When the job execution mechanism 200 is connected to the access module 11 of the domain controller 11, the execution side trigger signal interface 2111 is connected to the trigger signal interface 1111, and the execution side trigger signal interface 2111 outputs a level signal to the trigger signal interface 1111, and the trigger signal interface 1111 sends the level signal to the first control module 113, so that the first control module 113 switches from the sleep mode to the working mode. The execution side interface module 211 also includes an execution side power supply interface 2112. When the first control module 113 is in the working mode, power is provided to the job execution controller 21 through the power supply interface 1112 and the execution side power supply interface 2112.

[0044] As an optional implementation, the job execution controller 21 further includes an execution side transmission module 212, which is connected to the transmission module 112 of the domain controller 11 and is used to communicate with the domain controller 11. The execution side transmission module 212 further includes an execution side CAN unit 2121 and an execution side LIN unit 2122. According to the job task type of the job execution mechanism 200, one of the execution side CAN unit 2121 and the execution side LIN unit 2122 is selected to communicate with the domain controller 11. The execution side CAN unit 212 is communicatively connected to the CAN communication unit 1121. The execution side LIN unit 2122 is communicatively connected to the LIN communication unit 1122.

[0045] Please refer to Figure 8, the unmanned vehicle 100 provided in the embodiment of the present application includes at least one physical key control component 14, for example, it can be a physical key control component 14a, a physical key control component 14b, and a physical key control component 14c. The unmanned vehicle 100 can communicate with the digital key device 600. The domain controller 11 includes a first control module 113 and a second control module 115, the first control module 113 can communicate with the physical key control component 14, and the second control module 115 can communicate with the digital key device 600. When the first control module 113 receives a wake-up signal from the physical key control component 14, the first control module 113 switches from a sleep mode to a working mode, and when the second control module 115 receives a wake-up signal from the digital key device 600, the second control module 115 switches from a sleep mode to a working mode. The physical key control component 14 is arranged on the unmanned vehicle 100, and each physical key control component 14 has a physical key matching it. The physical key can be understood as a physical entity car key, generally including a mechanical key, a fingerprint key, etc. A digital key refers to a non-physical key that implements vehicle control functions through some communication technology. It can be used for unlocking and locking the vehicle, starting the vehicle, and controlling the vehicle. Digital key. The entity carrying the digital key is usually a smart terminal device, such as a smart phone, a smart wearable device (such as a smart watch, a bracelet), etc. A digital key device can be understood as a smart terminal device. Sleep is when the controller enters sleep mode, and wakeup is when the controller switches from sleep mode to working mode. Controller sleep can reduce the static power consumption of the controller, thereby making it more likely to efficiently utilize the battery power of the entire vehicle. In the prior art solution, the controller performs network management through the CAN network. When the CAN network is used to transmit sleep instructions and other means to implement the wake-up control of the controller, since the CAN signal is a broadcast signal, it will cause all controllers on the CAN bus to be in a wake-up state, thereby increasing the power consumption of the entire vehicle resources and reducing the battery life. In the embodiment of the present application, through the communication connection between the first control module 113 and the physical key control component 14 on the unmanned vehicle 100, when the unmanned vehicle 100 is controlled by the physical key control component 14, it is only necessary to wake up the first control module 113 connected to the physical key control component 14, and through the communication connection between the second control module 115 and the digital key device 600, when the unmanned vehicle 100 is controlled by the digital key device 600, it is only necessary to wake up the second control module 115 connected to the digital key device 600. Therefore, the number of controllers for waking up the unmanned vehicle 100 is small, the vehicle startup speed is fast and the power-on efficiency is high, the power consumption of the domain controller 11 is reduced, thereby reducing the resource power consumption of the entire vehicle and increasing the battery life.

[0046] As an optional implementation, Fig. 9As shown, the domain controller 11 also includes a communication module 121, which can be connected to the physical key control component 14 in communication, and the first control module 113 is connected to the communication module 121. When the communication module 121 receives a key authentication request from the physical key control component 14, the key authentication request is sent to the first control module 113. After receiving the key authentication request, the first control module 113 switches the first control module 113 from the sleep mode to the working mode. The physical key control component 14 wakes up the first control module 113 by sending the key authentication request, so that the first control module 113 can be quickly started, thereby reducing the power consumption of the domain controller 11.

[0047] As an optional implementation, Fig. 9 As shown, the domain controller 11 includes a storage module 114. The physical key control component 14 stores the key secret key of the physical key that matches itself, and the storage module 114 stores the key secret key of each key. Exemplarily, the key secret key may be a key ESK code. The physical key control component 14 sends a key authentication request to the communication module 121. The communication module 121 receives the key authentication request and forwards it to the first control module 113. The first control module 113 receives the key authentication request, generates a random number based on the key authentication request, and sends the random number to the communication module 121. The communication module 121 sends the random number to the physical key control component 14. The physical key control component 14 generates encrypted data to be verified based on the random number and the stored key secret key, and sends the encrypted data to be verified to the communication module 121. After receiving the encrypted data to be verified, the communication module 121 forwards it to the first control module 113. The first control module 113 encrypts the random number with each stored key key to generate a plurality of pre-stored encrypted data, and matches the encrypted data to be verified with the pre-stored encrypted data one by one. If the match is successful, the physical key matching the physical key control component 14 is determined to be a legal key, and the information of the legal key is generated and sent to the communication module 121. The communication module 121 sends the information of the legal key to the physical key control component 14 to determine that the key matched with the physical key control component 14 is a legal key. When the first control module 113 wakes up from the sleep state, it performs the authentication work with the key component to prevent illegal keys from accessing the unmanned vehicle 100 and improve the security of the unmanned vehicle 100.

[0048] An optional implementation method is that the communication module 121 adopts Lin communication. Since the key authentication and power-on process are not very sensitive to time response requirements, Lin communication can be adopted, thereby reducing the cost of the domain controller and further reducing the power consumption of the domain controller 11.

[0049] As an optional implementation, if the number of key authentication operations between the first control module 113 and the physical key control component 14 exceeds a preset number threshold, the first control module 113 determines that the key matched with the physical key control component 14 is an illegal key, and suspends receiving the key authentication request sent by the physical key control component 14 within a preset time threshold. Generally, the number threshold is set to 3 times, and the preset time is set to 60S. This implementation can further avoid the access of illegal keys, and can further save the resource consumption of the first control module 113 and the power consumption of the domain controller 11.

[0050] An optional implementation, such as Fig. 9 As shown, the physical key control component 14 includes a control member 141. When the first control module 113 determines that the physical key is a legitimate key, the control member 141 is touched based on the first time length. The physical key control component 14 outputs a first control instruction to the communication module 121. The communication module 121 receives the first control instruction and sends it to the first control module 113. The first control module 113 controls the unmanned vehicle 100 to power on according to the first control instruction, and when the unmanned vehicle 100 meets the start-up conditions, controls the unmanned vehicle 100 to start. The first control module 113 can be connected to KL15, and can control the closing and opening of the relay on the KL15 line to control the power on and power off of the unmanned vehicle 100. By manipulating the control member 141 of the physical key control component 14, the unmanned vehicle 100 can be controlled to power on or off. The control member 141 can be a button, and the control instruction is triggered by the button. When the control member 141 is operated for a first time length, such as long pressing a button, the physical key control component 14 outputs a first control instruction, which can be understood as a power-on request instruction. After the first control module 113 receives the first control instruction, if the current state of the unmanned vehicle 100 is the power-off state, the relay on the KL15 line is controlled to be closed to power on the unmanned vehicle 100. If the current state of the unmanned vehicle 100 is the power-on state, and when the unmanned vehicle 100 meets the start-up conditions, the unmanned vehicle 100 is controlled to start. Through the data interaction between the first control module 113 and the physical key control component 14, the power-on or start-up of the unmanned vehicle 100 is realized. This interaction process only requires the interaction between the two, and other controllers are not involved, which further saves the power consumption of the domain controller 11 and reduces the power consumption of the entire vehicle.

[0051] An optional implementation method, when the first control module 113 determines that the physical key is a legitimate key, the control member 141 is touch-operated based on the second time length, the physical key control component 14 outputs the second control instruction to the communication module 121, the communication module 121 receives the second control instruction and sends it to the first control module 113, and the first control module 113 controls the unmanned vehicle 100 to power off according to the second control instruction, wherein the first time length is greater than the second time length. The first control module 113 can be connected to KL15, and can control the closing and disconnection of the relay on the KL15 line to control the power on and off of the unmanned vehicle 100. The control member 141 can be a button, and the control instruction is triggered by the button. When the control member 141 is operated for the second time length, such as a short press of the button, the physical key control component 14 outputs the second control instruction, and the second control instruction can be understood as a power-off request instruction. After the first control module 113 receives the second control instruction, if the current state of the unmanned vehicle 100 is the power-on state, the relay on the KL15 line is controlled to be disconnected to power off the unmanned vehicle 100. The unmanned vehicle 100 is powered off through data interaction between the first control module 113 and the physical key control component 14. This interactive process only requires interaction between the two, and other controllers are not involved, which further saves the power consumption of the domain controller 11 and reduces the power consumption of the entire vehicle.

[0052] An optional implementation, such as Fig. 9As shown, the physical key control component 14 is at least one of the following: a mechanical key control component, a smart key control component, an NFC key control component, and a fingerprint key control component. Before the physical key control component 14 sends a key authentication request to the communication module 121, the physical key control component 14 completes the key authentication between itself and the matched physical key. For example, when the mechanical key is inserted into the mechanical key control component and rotated to trigger, the mechanical key control component outputs a low-frequency signal to the mechanical key, and the low-frequency signal carries the configuration information of the mechanical key. The mechanical key receives the low-frequency signal, and the anti-theft chip of the mechanical key performs anti-theft authentication according to the low-frequency signal. If the authentication is passed, the key authentication between the mechanical key and the mechanical key control component is completed. After the authentication is completed, the key authentication between the mechanical key control component and the first control module 113 is started. For another example, by triggering a button on the smart key to start the authentication work between the smart key and the smart key control component, the smart key control component outputs a low-frequency signal to the smart key, and the low-frequency signal carries the configuration information of the smart key. The smart key receives the low-frequency signal and outputs a high-frequency feedback signal according to the low-frequency signal. The smart key control component determines whether the smart key is in a reasonable position and whether the key configuration information is correct based on the high-frequency feedback signal. If the authentication is successful, the key authentication between the smart key and the smart key control component is completed. After the authentication is completed, the key authentication between the smart key control component and the first control module is started, which can further avoid the access of illegal keys to ensure the access of legal keys.

[0053] An optional implementation, such as Fig.10As shown, the digital key device 600 is a Bluetooth digital key device 601, and the Bluetooth digital key device 601 can be a smart terminal device, such as a smart phone, a smart wearable device, etc. The domain controller 11 includes a second control module 115 and a Bluetooth communication module 117. The Bluetooth communication module 117 can communicate with the Bluetooth digital key device 601, and the second control module 115 is connected to the Bluetooth communication module 117. The Bluetooth communication module 117 responds to the Bluetooth digital key device 601 being awakened and establishes a Bluetooth transmission channel with the second control module 115. The second control module 115 switches from sleep mode to working mode. After the second control module 115 completes the identity authentication between itself and the Bluetooth digital key device 601 through the Bluetooth communication module 117, the second control module 115 generates an authentication request for the Bluetooth digital key device and sends it to the first control module 113; the first control module 113 switches from sleep mode to working mode after receiving the authentication request of the Bluetooth digital key device 601. When the Bluetooth communication module 117 detects the Bluetooth broadcast signal sent by the Bluetooth digital key device 601, it pairs with the Bluetooth digital key device 601 and establishes a Bluetooth channel between the two. At the same time, a Bluetooth channel is established between the Bluetooth communication module 117 and the second control module 115, and the second control module 115 is awakened, and the first control module 113 is awakened through the second control module 115. The number of controllers that need to be awakened during the entire data interaction process is relatively small, which further saves the power consumption of the domain controller 11 and reduces the power consumption of the entire vehicle.

[0054] An optional implementation method, when the first control module 113 is in working mode, performs a key legal authentication operation on the Bluetooth digital key device 601, including: the second control module 115 stores the key of the Bluetooth digital key device 601. The second control module 115 generates an authentication request for the Bluetooth digital key device 601 and sends it to the first control module 113. The first control module 113 generates a random number according to the authentication request of the Bluetooth digital key device 601 and sends it to the second control module 115. The second control module 115 generates encrypted data to be verified based on the random number and the key of the Bluetooth digital key device 601, and sends it to the first control module 113. The first control module 113 encrypts the random number with each stored key to generate a plurality of pre-stored encrypted data, and matches the encrypted data to be verified with the pre-stored encrypted data one by one. If the match is successful, the Bluetooth digital key device 601 is determined to be a legal key, and the information of the legal key is generated and sent to the second control module 115. Through data interaction among the Bluetooth digital key device 601, the Bluetooth communication module 117, the second control module 115 and the first control module 113, the legal authentication of the Bluetooth digital key device 601 is completed, thereby realizing the intelligent operation of the Bluetooth digital key device 601 to control the unmanned vehicle 100.

[0055] One possible way to do this is Fig.10 As shown, the digital key device 600 is a remote digital key device 602, and the remote digital key device 602 can be understood as a cloud platform or a cloud server. The domain controller 11 also includes a second control module 115 and a mobile communication module 116. The mobile communication module 116 can communicate with the remote digital key device 602. The second control module 115 is connected to the mobile communication module 116. In response to the remote digital key device 602 being awakened, the mobile communication module 116 establishes a data transmission channel with the second control module 115, and the second control module 115 switches from sleep mode to working mode. After the second control module 115 completes the identity authentication between itself and the remote digital key device 602 through the mobile communication module 116, the second control module 115 generates an authentication request for the remote digital key device and sends it to the first control module 113; the first control module 113 switches from sleep mode to working mode after receiving the authentication request of the remote digital key device. When the mobile communication module 116 detects the data signal sent by the remote digital key device 602, it establishes a data communication channel between the remote digital key device 602 and the remote digital key device 602. At the same time, a data channel is established between the mobile communication module 116 and the second control module 115, the second control module 115 is awakened, and the first control module 113 is awakened through the second control module 115. The number of controllers that need to be awakened during the entire data interaction process is relatively small, which further saves the power consumption of the domain controller 11 and reduces the power consumption of the entire vehicle.

[0056] In one achievable manner, after the first control module 113 is in the working mode, a key legal authentication operation is performed on the remote digital key device 602, including: the second control module 115 stores the key of the remote digital key device 602. The second control module 115 generates an authentication request for the remote digital key device 602 and sends it to the first control module 113. The first control module 113 generates a random number based on the authentication request of the remote digital key device 602 and sends it to the second control module 115. The second control module 115 generates encrypted data to be verified based on the random number and the key of the remote digital key device 602, and sends it to the first control module 113. The first control module 113 encrypts the random number with each stored key to generate a plurality of pre-stored encrypted data, and matches the encrypted data to be verified with the pre-stored encrypted data one by one. If the match is successful, the remote digital key device 602 is determined to be a legal key, and the information of the legal key is generated and sent to the second control module 115. Through data interaction among the remote digital key device 602, the mobile communication module 116, the second control module 115 and the first control module 113, the legal authentication of the remote digital key device 602 is completed, thereby realizing the intelligent operation of the remote digital key device 602 to remotely control the unmanned vehicle 100.

[0057] In one achievable manner, the first control module 113 sets the priority of the key authentication request, wherein the priority of the physical key control component 14 is higher than the priority of the Bluetooth digital key device 601, and the priority of the Bluetooth digital key device 601 is higher than the priority of the remote digital key device 602. When the physical key control component 14, the Bluetooth digital key device 601, and the remote digital key device 602 are triggered at the same time, each key authentication request is responded to by the priority set above, thereby realizing the priority management of multiple types of keys.

[0058] An optional implementation, such as Fig.11 As shown, the domain controller 11 also includes a GNSS (Global Navigation Satellite System) module 122, and the second control module 115 is connected to the GNSS module 122 and the mobile communication module 116 respectively, and the mobile communication module 116 can communicate with the base station 700. The mobile communication module 116 obtains the carrier observation value and coordinate information of the reference station and sends it to the second control module 115. The second control module 115 sends the carrier observation value and coordinate information of the reference station to the GNSS module 122. The GNSS module 122 obtains satellite positioning information from the satellite 800, calculates the positioning information of the unmanned vehicle 100 based on the RTK algorithm according to the obtained satellite positioning information, the carrier observation value of the reference station and the coordinate information, and sends the positioning information to the second control module 115. Compared with the solution of using inertial navigation for positioning in the prior art, the present application integrates the GNSS module 122 in the domain controller 11 to provide relevant positioning data, reduces the 4G / 5G module and the communication SIM card inside the combined navigation unit, and reduces the product cost.

[0059] Although the preferred embodiments of the present application have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the application as disclosed in the accompanying claims.

Claims

1. A domain controller for an unmanned vehicle, characterized in that: The domain controller comprises: Interface module, used to plug in different types of job execution mechanisms; A transmission module capable of communicating with the operation execution mechanism; The first control module is connected to the interface module and the transmission module for communication, wherein: When the job execution mechanism is connected to the interface module, the transmission module obtains the job task type of the job execution mechanism sent by the job execution mechanism, the first control module determines the corresponding job task according to the job task type, and switches to the control program corresponding to the job task.

2. The domain controller for an unmanned vehicle according to claim 1, characterized in that: The interface module includes a trigger signal interface. When the job execution mechanism is connected to the interface module, the trigger signal interface outputs a level signal to the first control module. After receiving the level signal, the first control module switches the first control module from sleep mode to working mode.

3. The domain controller for an unmanned vehicle according to claim 2, characterized in that: The job execution mechanism includes a job execution controller, and the interface module includes a power interface. When the first control module is in a working mode, the power interface provides power to the job execution controller.

4. The domain controller for an unmanned vehicle according to claim 1, characterized in that: The job execution mechanism includes a job execution controller, which stores the mechanism key of the job execution mechanism itself. The domain controller also includes a storage module, which can store the mechanism key of the job execution mechanism, wherein the transmission module can send the upper authentication request sent by the job execution controller to the first control module; the first control module can generate a random number according to the upper authentication request, and send the random number to the job execution controller through the transmission module; the job execution controller can generate encrypted data to be verified based on the random number and the mechanism key of the job execution mechanism itself, and transmit the encrypted data to be verified to the first control module; the first control module can encrypt the random number with each stored mechanism key to generate multiple pre-stored encrypted data respectively; the first control module can also match the encrypted data to be verified with the pre-stored encrypted data one by one. If the match is successful, the first control module generates authentication success information and sends it to the job execution controller through the transmission module.

5. The domain controller for an unmanned vehicle according to claim 4, characterized in that: When it is determined that the access authentication of the job execution agency is passed, the transmission module receives the job task type of the job execution agency sent by the job execution controller, and the first control module determines the corresponding job task based on the job task type and switches to the control program corresponding to the job task.

6. The domain controller for an unmanned vehicle according to claim 1, characterized in that: The transmission module includes a CAN communication unit and a LIN communication unit. The first control module selects one of the CAN communication unit and the LIN communication unit according to the type of the job task of the job execution mechanism, and establishes a communication connection with the job execution mechanism.

7. The domain controller for an unmanned vehicle according to claim 1, characterized in that: The domain controller further includes a second control module and a mobile communication module, the mobile communication module can be connected to the cloud platform for communication, the second control module is connected to the mobile communication module, the second control module can receive remote control instructions from the cloud platform through the mobile communication module, and forward the remote control instructions to the first control module; The first control module sends the remote control instruction to the operation execution mechanism through the transmission module, so that the cloud platform can remotely control the operation execution mechanism; and / or, The domain controller also includes a Bluetooth communication module, which can communicate with the remote control device. The second control module is connected to the Bluetooth communication module. The second control module can receive remote control instructions from the remote control device through the Bluetooth communication module and forward the remote control instructions to the first control module. The first control module sends the remote control instructions to the job execution mechanism through the transmission module, so that the remote control device can remotely control the job execution mechanism.

8. The domain controller for an unmanned vehicle according to claim 1, characterized in that: The unmanned vehicle also includes a driving domain controller, and the domain controller also includes a second control module and an Ethernet communication module. The Ethernet communication module is connected to the driving domain controller, and the second control module is connected to the Ethernet communication module. The second control module can receive control instructions from the driving domain controller through the Ethernet communication module and forward the control instructions to the first control module. The first control module sends the control instructions to the operation execution mechanism through the transmission module, so that the intelligent driving domain controller can control the operation execution mechanism.

9. The domain controller for an unmanned vehicle according to claim 1, characterized in that: The domain controller also includes a light high-side driver module, and the unmanned vehicle also includes a headlight assembly. The first control module is connected to the light high-side driver module, and the light high-side driver module is connected to the headlight assembly. The first control module controls the on and off of the headlight assembly by controlling the light high-side driver module, obtains the driving current of the light high-side driver module, and determines the headlight fault state of the headlight assembly according to the driving current.

10. An unmanned vehicle, characterized in that: The unmanned vehicle includes a domain controller and a job execution mechanism as described in any one of claims 1 to 9, wherein the job execution mechanism includes a job execution controller, and the job execution controller is connected to the domain controller. When the job execution mechanism is connected to the domain controller, the job execution controller sends the job task type of the job execution mechanism to the domain controller, and the domain controller determines the corresponding job task based on the job task type, and switches to the control program corresponding to the job task.

Images