Whole vehicle configuration self-identification method for modularized reconstructed vehicle

Abstract

The invention belongs to the technical field of vehicle network information, particularly relates to a modularized reconstruction vehicle whole vehicle configuration self-recognition method, and solves the problems that an existing manual whole vehicle configuration scheme is tedious in operation and low in expansibility. On the basis of a multi-bus network topology architecture, domain controller attribute information carried by each independent module is integrated into a vehicle control unit in a unified manner, and the functions of attribute identification of information of each module, attribute information configuration table integration and attribute information configuration table distribution are achieved; therefore, interconnection and intercommunication of the whole vehicle on an information framework and plug and play under module change are realized. According to the whole vehicle configuration self-recognition algorithm, rapid and accurate configuration of the modularized reconstruction vehicle is achieved in an automatic and intelligent mode, the adaptability and flexibility of the vehicle are improved, and powerful technical support is provided for an intelligent traffic system in the future.

Description

Technical Field

[0001] The invention belongs to the field of vehicle network information technology, and in particular relates to a modular reconstruction vehicle configuration self-identification method. Background Art

[0002] With the continuous development of automobile technology, the electronic control system and network communication system of vehicles are becoming more and more complex. In order to meet different usage requirements and operating environments, vehicles need to have higher flexibility and configurability. Modular reconfigurable vehicles are a new type of vehicle architecture that realizes efficient reconstruction and configuration of vehicles by modularizing, standardizing and configurating various functions of the vehicle. However, in the actual application of modular reconfigurable vehicles, there are the following problems: 1. Manual configuration of vehicle modules and network communication parameters is time-consuming and labor-intensive, and prone to errors; 2. The addition, removal and replacement of vehicle modules require reconfiguration of the network, affecting the normal operation of the vehicle; 3. The dynamic registration and self-identification of vehicle modules cannot be achieved, resulting in unstable vehicle operation. Summary of the invention

[0003] 1. Technical issues to be resolved

[0004] The technical problem to be solved by the present invention is: how to provide a vehicle configuration self-identification algorithm for modular reconfigurable vehicles, which is used to realize automatic configuration, dynamic registration and self-identification of vehicle modules, and improve the operating efficiency and stability of the vehicle.

[0005] (II) Technical solution

[0006] In order to solve the above technical problems, the present invention provides a modular reconfiguration vehicle configuration self-identification method, the method comprising the following steps: a module information attribute identification part, an attribute information configuration table integration part, and an attribute information configuration table distribution part;

[0007] The module information attribute recognition part automatically recognizes the module characteristics according to the network topology and module identification, and automatically registers the configuration information of each module to the central control unit; in this process, the configuration information of each module includes the type of module, the module identifier and the connection relationship between modules; then, a unique IP address is automatically assigned to each module according to the preset rules to ensure the accuracy and fluency of data communication;

[0008] The attribute information configuration table integration part constructs a vehicle information configuration sheet according to the attribute configuration information of each module through a preset numerical mechanism model, including the attribute information, working status, load status of each module, and the attribute information of the vehicle mass, wheelbase, and center of mass height obtained by comprehensive calculation based on the information of each module;

[0009] The attribute information configuration table distribution part automatically allocates corresponding attribute information to each module according to the vehicle configuration model; these attribute information include the attribute information of the whole vehicle and each module, the working status, the power consumption of the module and the communication protocol of the module, which are used for the control task allocation, instruction calculation, energy scheduling and other detailed functions in each module.

[0010] Through the above steps, the vehicle configuration self-identification method of the present invention can automatically identify and configure each module in a modularly reconfigurable vehicle, thereby improving configuration efficiency and accuracy and reducing the cost and risk of manual configuration.

[0011] Among them, in the module registration process of the method, each module sends its type, identifier, connection relationship and other information to the vehicle controller through a preset configuration registration interface, and the vehicle controller receives and stores this information to build a vehicle configuration model.

[0012] In the method, the vehicle controller obtains corresponding attribute information from a preset attribute information library according to the type and identifier of each module in the vehicle configuration model; the attribute information library stores attribute information of various types of modules, including the working status of the module, the power consumption of the module and the communication protocol of the module.

[0013] Among them, when a module fails or needs to be replaced, the central control unit automatically adjusts the configuration information of other modules according to the vehicle configuration model to ensure the normal operation of the vehicle.

[0014] In addition, the present invention also provides a modular reconfiguration vehicle configuration self-identification method, the method comprising:

[0015] (i) Module information attribute identification part: After the vehicle is reconfigured and powered on, the vehicle controller first automatically assigns a unique IP address to each module according to the preset rules and creates a corresponding attribute information data structure; in the module registration stage, each module of the vehicle sends registration information to the vehicle controller module through its own domain controller; after the vehicle controller receives the registration request of each module, it authenticates its identity respectively, and incorporates the module into the vehicle network after the authentication is passed;

[0016] (ii) Attribute information configuration table integration part: the vehicle controller sends a configuration information query request to the registered modules, and each module domain controller sends the corresponding attribute configuration information to the vehicle controller after receiving the request; the vehicle controller calculates and obtains the vehicle-level attribute information based on the comprehensive attribute information of each module;

[0017] (III) Attribute information configuration table distribution part: The vehicle controller automatically distributes the integrated attribute information configuration table to each module domain controller according to the preset vehicle configuration model; these attribute information include the module's extreme performance, working parameters, and health identification; each module performs self-configuration updates after receiving the new configuration information.

[0018] Through the above steps, the method can realize self-identification of vehicle configuration for modular reconfigurable vehicles, improve the operating efficiency and stability of the vehicle, and reduce the cost of manual configuration and maintenance.

[0019] In addition, the present invention also provides a modular reconfiguration vehicle configuration self-identification method, the method comprising:

[0020] Step 1: Module information attribute identification phase: After the modular vehicle reconstruction is completed, each module performs initialization operations; during the initialization process, the vehicle controller uses the DHCP server configuration to assign IP addresses to the domain controllers of each module; follow the following steps:

[0021] Step 101: The vehicle controller needs to be pre-installed with DHCP server software;

[0022] Step 102: Edit the configuration file of the DHCP server and add appropriate configuration to define the DHCP lease pool, subnet information, and other configuration options;

[0023] Step 103: Create a DHCP client configuration for each domain controller, specify a static IP address for the DHCP client, and assign the static IP address to the MAC address of the client;

[0024] Step 104: configure the automatic startup mode of the DHCP server and the client, and set the output of the identification content of whether it is running after startup;

[0025] Step 105: Start the DHCP server, start listening and assign IP addresses to clients;

[0026] After each module domain controller obtains the IP address, it sends a registration request to the vehicle controller, which includes the identification information of the module where each domain controller is located (for example, name, model, etc.). After receiving the registration request, the vehicle controller authenticates the module and uses this information to generate a configuration list; follow the steps below:

[0027] Step 106: Sending a registration request: After each domain controller is started, it periodically sends a registration request to the vehicle controller; the registration request contains information about the module where the domain controller is located, such as the module name, model, unique identifier, digital signature, and status; until the assisted driving controller replies that the registration is successful;

[0028] Step 107: Verify the digital signature: The vehicle controller uses the pre-stored public key to verify the extracted digital signature to confirm that the registration request is sent by a legitimate module;

[0029] Step 108: Compare identity information: The vehicle controller compares the extracted module identity information with the pre-stored legal module identity information to confirm whether the module is an authorized legal module;

[0030] Step 109: Create data structure: If the module passes the identity authentication, the vehicle controller creates a corresponding data structure (database format) to store attribute information about the module; if the module does not pass the identity authentication, the vehicle controller replies to the domain controller with registration confirmation, or registration failure and reason according to registration success or registration failure;

[0031] Step 2: Attribute information configuration table integration part: When the domain control information is registered for the first time or the vehicle operation maintenance is updated, the vehicle controller updates the module's attribute information to the corresponding data structure; in addition, the vehicle controller calculates the vehicle attribute information, not limited to the vehicle mass, wheelbase, vehicle center of mass height, and vehicle maximum braking torque, based on the independent attribute information of each module domain controller, to form a global attribute information configuration table under the vehicle system; during vehicle operation, the domain control regularly sends a heartbeat message to the vehicle controller to represent the online status; if a heartbeat is detected, the module status information of each domain control is updated to the vehicle configuration table; if the server port of the vehicle controller does not receive the heartbeat message of the domain control within a period of time, or does not receive the data frame after successful registration, it starts reading the backup CAN bus message; if the node CAN data frame is detected within the set time, the corresponding status information is updated to the vehicle configuration table, otherwise the corresponding module is marked as offline and reported;

[0032] Step 3: Attribute information configuration table distribution part: The vehicle controller regularly checks whether the configuration information of each module needs to be updated; after each set time period, the vehicle controller sends a configuration update request to the corresponding module, together with the new configuration information; after receiving the configuration update request, the module domain controller verifies the new configuration information, and after the verification passes, loads the new configuration information into the module to complete the configuration update.

[0033] (III) Beneficial effects

[0034] Compared with the prior art, the present invention can realize self-identification of the whole vehicle configuration for modular reconfigurable vehicles, improve the operating efficiency and stability of the vehicle, and reduce the cost of manual configuration and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 Schematic diagram of modular domain control distribution.

[0036] Figure 2 It is a flow chart of the vehicle configuration self-identification method for modularly reconfigurable vehicles of the present invention.

[0037] Table 1 is the attribute configuration information sent and received by each module domain controller and the vehicle controller in the vehicle configuration self-identification method for modular reconfigurable vehicles of the present invention. DETAILED DESCRIPTION

[0038] In order to make the purpose, content, and advantages of the present invention more clear, the specific implementation methods of the present invention are further described in detail below in conjunction with the accompanying drawings and examples.

[0039] In order to solve the above technical problems, the present invention provides a modular reconfiguration vehicle configuration self-identification method, the method comprising the following steps: a module information attribute identification part, an attribute information configuration table integration part, and an attribute information configuration table distribution part;

[0040] The module information attribute recognition part automatically recognizes the module characteristics according to the network topology and module identification, and automatically registers the configuration information of each module to the central control unit; in this process, the configuration information of each module includes the type of module, the module identifier and the connection relationship between modules; then, a unique IP address is automatically assigned to each module according to the preset rules to ensure the accuracy and fluency of data communication;

[0041] The attribute information configuration table integration part constructs a vehicle information configuration sheet according to the attribute configuration information of each module, through a preset expert experience table and a numerical mechanism model, including the attribute information, working state, load state of each module, and the attribute information of the vehicle mass, wheelbase, and center of mass height obtained by comprehensive calculation based on the information of each module;

[0042] The attribute information configuration table distribution part automatically allocates corresponding attribute information to each module according to the vehicle configuration model; these attribute information include the attribute information of the whole vehicle and each module, the working status, the power consumption of the module and the communication protocol of the module, which are used for the control task allocation, instruction calculation, energy scheduling and other detailed functions in each module.

[0043] Through the above steps, the vehicle configuration self-identification method of the present invention can automatically identify and configure each module in a modularly reconfigurable vehicle, thereby improving configuration efficiency and accuracy and reducing the cost and risk of manual configuration.

[0044] Among them, in the module registration process of the method, each module sends its type, identifier, connection relationship and other information to the vehicle controller through a preset configuration registration interface, and the vehicle controller receives and stores this information to build a vehicle configuration model.

[0045] In the method, the vehicle controller obtains corresponding attribute information from a preset attribute information library according to the type and identifier of each module in the vehicle configuration model; the attribute information library stores attribute information of various types of modules, including the working status of the module, the power consumption of the module and the communication protocol of the module.

[0046] Among them, when a module fails or needs to be replaced, the central control unit automatically adjusts the configuration information of other modules according to the vehicle configuration model to ensure the normal operation of the vehicle.

[0047] In addition, the present invention also provides a modular reconfiguration vehicle configuration self-identification method, the method comprising:

[0048] (i) Module information attribute identification part: After the vehicle is reconfigured and powered on, the vehicle controller first automatically assigns a unique IP address to each module according to the preset rules and creates a corresponding attribute information data structure; in the module registration stage, each module of the vehicle sends registration information to the vehicle controller module through its own domain controller; after the vehicle controller receives the registration request of each module, it authenticates its identity respectively, and incorporates the module into the vehicle network after the authentication is passed;

[0049] (ii) Attribute information configuration table integration part: the vehicle controller sends a configuration information query request to the registered modules, and each module domain controller sends the corresponding attribute configuration information to the vehicle controller after receiving the request; the vehicle controller calculates and obtains the vehicle-level attribute information based on the comprehensive attribute information of each module;

[0050] (III) Attribute information configuration table distribution part: The vehicle controller automatically distributes the integrated attribute information configuration table to each module domain controller according to the preset vehicle configuration model; these attribute information include the module's extreme performance, working parameters, and health identification; each module performs self-configuration updates after receiving the new configuration information.

[0051] Through the above steps, the method can realize self-identification of vehicle configuration for modular reconfigurable vehicles, improve the operating efficiency and stability of the vehicle, and reduce the cost of manual configuration and maintenance.

[0052] In addition, the present invention also provides a modular reconfiguration vehicle configuration self-identification method, the method comprising:

[0053] Step 1: Module information attribute identification phase: After the modular vehicle reconstruction is completed, each module performs initialization operations; during the initialization process, the vehicle controller uses the DHCP server configuration to assign IP addresses to the domain controllers of each module; follow the following steps:

[0054] Step 101: The vehicle controller needs to be pre-installed with DHCP server software;

[0055] Step 102: Edit the configuration file of the DHCP server and add appropriate configuration to define the DHCP lease pool, subnet information, and other configuration options;

[0056] Step 103: Create a DHCP client configuration for each domain controller, specify a static IP address for the DHCP client, and assign the static IP address to the MAC address of the client;

[0057] Step 104: configure the automatic startup mode of the DHCP server and the client, and set the output of the identification content of whether it is running after startup;

[0058] Step 105: Start the DHCP server, start listening and assign IP addresses to clients;

[0059] After each module domain controller obtains the IP address, it sends a registration request to the vehicle controller, which includes the identification information of the module where each domain controller is located (for example, name, model, etc.). After receiving the registration request, the vehicle controller authenticates the module and uses this information to generate a configuration list; follow the steps below:

[0060] Step 106: Sending a registration request: After each domain controller is started, it periodically sends a registration request to the vehicle controller; the registration request contains information about the module where the domain controller is located, such as the module name, model, unique identifier, digital signature, and status; until the assisted driving controller replies that the registration is successful;

[0061] Step 107: Verify the digital signature: The vehicle controller uses the pre-stored public key to verify the extracted digital signature to confirm that the registration request is sent by a legitimate module;

[0062] Step 108: Compare identity information: The vehicle controller compares the extracted module identity information with the pre-stored legal module identity information to confirm whether the module is an authorized legal module;

[0063] Step 109: Create data structure: If the module passes the identity authentication, the vehicle controller creates a corresponding data structure (database format) to store attribute information about the module; if the module does not pass the identity authentication, the vehicle controller replies to the domain controller with registration confirmation, or registration failure and reason according to registration success or registration failure;

[0064] Step 2: Attribute information configuration table integration part: When the domain control information is registered for the first time or the vehicle operation maintenance is updated, the vehicle controller updates the module's attribute information to the corresponding data structure; in addition, the vehicle controller calculates the vehicle attribute information, not limited to the vehicle mass, wheelbase, vehicle center of mass height, and vehicle maximum braking torque, based on the independent attribute information of each module domain controller, to form a global attribute information configuration table under the vehicle system; during vehicle operation, the domain control regularly sends a heartbeat message to the vehicle controller to represent the online status; if a heartbeat is detected, the module status information of each domain control is updated to the vehicle configuration table; if the server port of the vehicle controller does not receive the heartbeat message of the domain control within a period of time, or does not receive the data frame after successful registration, it starts reading the backup CAN bus message; if the node CAN data frame is detected within the set time, the corresponding status information is updated to the vehicle configuration table, otherwise the corresponding module is marked as offline and reported;

[0065] Step 3: Attribute information configuration table distribution part: The vehicle controller regularly checks whether the configuration information of each module needs to be updated; after each set time period, the vehicle controller sends a configuration update request to the corresponding module, together with the new configuration information; after receiving the configuration update request, the module domain controller verifies the new configuration information, and after the verification passes, loads the new configuration information into the module to complete the configuration update.

[0066] Through the above implementation, the vehicle configuration self-identification algorithm for modular reconfigurable vehicles of the present invention can realize the functions of dynamic initialization, configuration update, attribute information adaptation and exception handling of modules, improve the operation efficiency and stability of the vehicle, and reduce the cost of manual configuration and maintenance. At the same time, the configuration information of the whole vehicle is the model parameter basis for the control task allocation, instruction calculation, and energy scheduling of each module system, and is the basis for realizing the hierarchical control of the whole vehicle, which improves the adaptability and scalability of the vehicle.

[0067] Table 1 Attribute configuration information of each controller

[0068]

[0069]

[0070] Note: The vehicle control instructions are transmitted directly through the bus without going through the configuration table

[0071] Through the embodiments of the present invention, automatic configuration, dynamic registration and self-identification of vehicle modules can be achieved, thereby improving the operating efficiency and stability of the vehicle. At the same time, the cost of manual configuration and maintenance is reduced. The above embodiments are only for illustrating the technical concept and features of the present invention. The purpose is to enable people familiar with this technology to understand the content of the present invention and implement it accordingly, and it cannot be used to limit the scope of protection of the present invention. Any modifications made according to the spirit of the main technical solution of the present invention should be covered within the scope of protection of the present invention.

[0072] In summary, the present invention belongs to the field of vehicle network information technology, and specifically relates to a method for self-identification of vehicle configuration for modular reconstruction, which solves the problem of cumbersome operation and low scalability of the existing manual vehicle configuration scheme. The present invention is based on a multi-bus network topology architecture, and integrates the attribute information of the domain controllers carried by each independent module into the vehicle controller, including attribute identification of each module information, attribute information configuration table integration, and attribute information configuration table distribution functions, so as to realize the interconnection of the whole vehicle in the information architecture and plug-and-play under module changes. The whole vehicle configuration self-identification algorithm of the present invention realizes the rapid and accurate configuration of modularly reconstructed vehicles in an automated and intelligent manner, improves the adaptability and flexibility of the vehicle, and provides strong technical support for future intelligent transportation systems.

[0073] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A modular reconfiguration vehicle configuration self-identification method, characterized in that: The method comprises the following steps: a module information attribute identification part, an attribute information configuration table integration part, and an attribute information configuration table distribution part; The module information attribute recognition part automatically recognizes the module characteristics according to the network topology and module identification, and automatically registers the configuration information of each module to the central control unit; in this process, the configuration information of each module includes the type of module, the module identifier and the connection relationship between modules; then, a unique IP address is automatically assigned to each module according to the preset rules to ensure the accuracy and fluency of data communication; The attribute information configuration table integration part constructs a vehicle information configuration sheet according to the attribute configuration information of each module through a preset numerical mechanism model, including the attribute information, working status, load status of each module, and the attribute information of the vehicle mass, wheelbase, and center of mass height obtained by comprehensive calculation based on the information of each module; The attribute information configuration table distribution part automatically allocates corresponding attribute information to each module according to the vehicle configuration model; these attribute information include the attribute information of the whole vehicle and each module, the working status, the power consumption of the module and the communication protocol of the module, which are used for the control task allocation, instruction calculation, energy scheduling and other detailed functions in each module.

2. The modular reconfigurable vehicle configuration self-identification method according to claim 1, characterized in that: Through the above steps, the vehicle configuration self-identification method of the present invention can automatically identify and configure each module in a modularly reconfigurable vehicle, thereby improving configuration efficiency and accuracy and reducing the cost and risk of manual configuration.

3. The modular reconfigurable vehicle configuration self-identification method according to claim 1, characterized in that: In the module registration process of the method, each module sends information such as its type, identifier and connection relationship to the vehicle controller through a preset configuration registration interface, and the vehicle controller receives and stores this information to build a vehicle configuration model.

4. The modular reconfigurable vehicle configuration self-identification method according to claim 1, characterized in that: In the method, the vehicle controller obtains corresponding attribute information from a preset attribute information library according to the type and identifier of each module in the vehicle configuration model; the attribute information library stores attribute information of various types of modules, including the working status of the module, the power consumption of the module and the communication protocol of the module.

5. The modular reconfigurable vehicle configuration self-identification method according to claim 1, characterized in that: When a module fails or needs to be replaced, the central control unit automatically adjusts the configuration information of other modules according to the vehicle configuration model to ensure the normal operation of the vehicle.

6. A modular reconstructed vehicle configuration self-identification method, characterized in that: The method comprises: (i) Module information attribute identification part: After the vehicle is reconfigured and powered on, the vehicle controller first automatically assigns a unique IP address to each module according to the preset rules and creates a corresponding attribute information data structure; in the module registration stage, each module of the vehicle sends registration information to the vehicle controller module through its own domain controller; after the vehicle controller receives the registration request of each module, it authenticates its identity respectively, and incorporates the module into the vehicle network after the authentication is passed; (ii) Attribute information configuration table integration part: the vehicle controller sends a configuration information query request to the registered modules, and each module domain controller sends the corresponding attribute configuration information to the vehicle controller after receiving the request; the vehicle controller calculates and obtains the vehicle-level attribute information based on the comprehensive attribute information of each module; (III) Attribute information configuration table distribution part: The vehicle controller automatically distributes the integrated attribute information configuration table to each module domain controller according to the preset vehicle configuration model; these attribute information include the module's extreme performance, working parameters, and health identification; each module performs self-configuration updates after receiving the new configuration information.

7. The modular reconfigurable vehicle configuration self-identification method according to claim 6, characterized in that: Through the above steps, the method can realize self-identification of vehicle configuration for modular reconfigurable vehicles, improve the operating efficiency and stability of the vehicle, and reduce the cost of manual configuration and maintenance.

8. A modular reconfiguration vehicle configuration self-identification method, characterized in that: The method comprises: Step 1: Module information attribute identification phase: After the modular vehicle reconstruction is completed, each module performs initialization operations; during the initialization process, the vehicle controller uses the DHCP server configuration to assign IP addresses to the domain controllers of each module; follow the following steps: Step 101: The vehicle controller needs to be pre-installed with DHCP server software; Step 102: Edit the configuration file of the DHCP server and add appropriate configuration to define the DHCP lease pool, subnet information, and other configuration options; Step 103: Create a DHCP client configuration for each domain controller, specify a static IP address for the DHCP client, and assign the static IP address to the MAC address of the client; Step 104: configure the automatic startup mode of the DHCP server and the client, and set the output of the identification content of whether it is running after startup; Step 105: Start the DHCP server, start listening and assign IP addresses to clients; After each module domain controller obtains the IP address, it sends a registration request to the vehicle controller, which includes the identification information of the module where each domain controller is located. After receiving the registration request, the vehicle controller authenticates the module and uses this information to generate a configuration list; follow the steps below: Step 106: Sending a registration request: After each domain controller is started, it periodically sends a registration request to the vehicle controller; the registration request includes information about the module where the domain controller is located; until the auxiliary driving controller replies that the registration is successful; Step 107: Verify the digital signature: The vehicle controller uses the pre-stored public key to verify the extracted digital signature to confirm that the registration request is sent by a legitimate module; Step 108: Compare identity information: The vehicle controller compares the extracted module identity information with the pre-stored legal module identity information to confirm whether the module is an authorized legal module; Step 109: Create a data structure: If the module passes the identity authentication, the vehicle controller creates a corresponding data structure to store the attribute information about the module; if the module does not pass the identity authentication, the vehicle controller replies to the domain controller with a registration confirmation, or a registration failure and the reason, according to the registration success or registration failure; Step 2: Attribute information configuration table integration part: When the domain control information is registered for the first time or the vehicle operation maintenance is updated, the vehicle controller updates the module's attribute information to the corresponding data structure; in addition, the vehicle controller calculates the vehicle attribute information of the vehicle mass, wheelbase, vehicle center of mass height, and vehicle maximum braking torque based on the independent attribute information of each module domain controller, and forms a global attribute information configuration table under the vehicle system; during vehicle operation, the domain controller regularly sends heartbeat messages to the vehicle controller to represent the online status; if a heartbeat is detected, the module status information of each domain controller is updated to the vehicle configuration table; if the server port of the vehicle controller does not receive the heartbeat message of the domain controller for a period of time, or does not receive the data frame after successful registration, it starts reading the backup CAN bus message; if the node CAN data frame is detected within the set time, the corresponding status information is updated to the vehicle configuration table, otherwise the corresponding module is marked as offline and reported; Step 3: Attribute information configuration table distribution part: The vehicle controller regularly checks whether the configuration information of each module needs to be updated; after each set time period, the vehicle controller sends a configuration update request to the corresponding module, together with the new configuration information; after receiving the configuration update request, the module domain controller verifies the new configuration information, and after the verification passes, loads the new configuration information into the module to complete the configuration update.

9. The modular reconfigurable vehicle configuration self-identification method according to claim 8, characterized in that: In step 1, after each module domain controller obtains an IP address, it sends a registration request to the vehicle controller, which includes identification information of the module where each domain controller is located; The identification information of the module where each domain controller is located includes: name and model.

10. The modular reconfigurable vehicle configuration self-identification method according to claim 8, characterized in that: In step 106, the registration request includes the module name, model, unique identifier, digital signature, and status.

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