Domain controller and vehicle control system

Abstract

The invention provides a domain controller and a vehicle control system, and relates to the technical field of vehicles, the domain controller comprises a transverse control module and a longitudinal control module, the transverse control module is used for controlling a vehicle to move transversely according to a received transverse control signal, and the longitudinal control module is used for controlling the vehicle to move transversely according to a received longitudinal control signal. And the longitudinal control module is used for controlling the longitudinal movement of the vehicle according to the received longitudinal control signal. A vehicle control system includes at least two domain controllers. According to the domain controller and the vehicle control system provided by the invention, the defects in the prior art can be overcome, the time delay of interaction between different systems is reduced, and the performance of the whole vehicle motion control system is improved.

Description

Technical Field

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

[0002] With the continuous improvement of computer processing power and the advancement of sensor technology, intelligent driving has gradually turned from a concept into reality. Modern intelligent driving systems rely on a variety of sensors, such as lidar, cameras, radar, and ultrasonic sensors to obtain information about the vehicle's surroundings. These sensors can sense roads, vehicles, pedestrians, and obstacles in real time, and transmit this data to the intelligent driving control system for analysis and decision-making. In intelligent driving, lateral and longitudinal control is the key technology to achieve vehicle movement.

[0003] At present, the solution for lateral and longitudinal control of intelligent driving is: the lateral controller and longitudinal controller are independent systems. When the intelligent driving related functions are activated, the intelligent driving controller sends out lateral control requests and longitudinal control requests, and the lateral controller and longitudinal controller respectively arbitrate, respond, calculate and execute the requests, thereby controlling the movement of the vehicle.

[0004] This requires the intelligent driving controller to communicate with the lateral controller and the longitudinal controller separately, resulting in a high delay in information exchange and reducing the performance of the vehicle motion control system. Summary of the invention

[0005] The present application provides a domain controller and a vehicle control system, which can overcome the defects of the prior art, reduce the delay of interaction between different systems, and improve the performance of the vehicle motion control system.

[0006] In a first aspect, an embodiment of the present application provides a domain controller, the domain controller comprising a horizontal control module and a vertical control module, wherein:

[0007] a lateral control module, for controlling the lateral movement of the vehicle according to the received lateral control signal;

[0008] The longitudinal control module is used to control the longitudinal movement of the vehicle according to the received longitudinal control signal.

[0009] It can be seen that in the embodiment of the present application, the domain controller includes a lateral control module and a longitudinal control module. Compared with the traditional solution, the lateral control module and the longitudinal control module are independently distributed, and the intelligent driving controller needs to send control strategy information to the lateral control module and the longitudinal control module respectively. In the embodiment of the present application, these lateral control modules and longitudinal control modules are integrated and deployed in the domain controller. When the intelligent driving controller sends control strategy information, it only needs to send it to the domain controller once, which saves interaction time and improves interaction efficiency, so that the intelligent driving response is more timely, and when the vehicle deviates from the direction and track, it is convenient to adjust the vehicle quickly and more accurately.

[0010] Based on the first aspect, in a possible implementation, the domain controller further includes a horizontal driving module and a vertical driving module, wherein:

[0011] a lateral drive module, configured to control a lateral motion device of the vehicle according to a lateral control torque sent by the lateral control module, wherein the lateral control torque is determined based on the lateral control signal;

[0012] The longitudinal driving module is used to control the longitudinal motion device of the vehicle according to the longitudinal control torque sent by the longitudinal control module, and the longitudinal control torque is determined based on the longitudinal control signal.

[0013] Based on the first aspect, in a possible implementation, the lateral control module includes a steering control unit, the lateral control signal includes a steering control signal, and the steering control unit is used to control the lateral movement of the vehicle according to the steering control signal; and / or,

[0014] The longitudinal control module includes a braking control unit and a driving control unit, and the longitudinal control signal includes a braking control signal and / or a driving control signal; the driving control unit is used to control the longitudinal movement of the vehicle according to the driving control signal, and the braking control unit is used to control the longitudinal movement of the vehicle according to the braking control signal.

[0015] Based on the first aspect, in a possible implementation, the lateral drive module includes a steering drive unit, the lateral control torque includes a steering control torque, the lateral motion device includes a steering device, and the steering drive unit is used to control the steering device according to the steering control torque; and / or,

[0016] The longitudinal drive unit includes a braking drive unit and / or a driving drive unit, the longitudinal control torque includes a braking control torque and / or a driving control torque, and the longitudinal motion device includes a braking device and / or a driving device; the braking drive unit is used to control the braking device according to the braking control torque; the driving drive unit is used to control the driving device according to the driving control torque.

[0017] Based on the first aspect, in a possible implementation, the steering control signal is a steering angle, and the steering control torque is determined based on a difference between the steering angle and a current steering wheel angle of the vehicle; and / or,

[0018] The brake control signal is a deceleration; and / or

[0019] The driving control signal is acceleration.

[0020] Based on the first aspect, in a possible implementation, the domain controller further includes a switch control module;

[0021] The switch control module is used to control the on and off of at least one of the steering control link, drive control link and brake control link of the domain controller. The steering control link includes the connection between the steering control unit and the steering drive unit and / or the connection between the steering drive unit and the steering device. The drive control link includes the connection between the drive control unit and the drive drive unit and / or the connection between the drive drive unit and the drive device. The brake control link includes the connection between the brake control unit and the brake drive unit and / or the connection between the brake drive unit and the brake device.

[0022] It can be seen that in the embodiment of the present application, the domain controller also includes a switch control module. By setting the switch control module, precise control of each control link of the domain controller can be achieved. By controlling the on and off, the steering, driving and braking functions can be accurately adjusted to improve the performance of the domain controller under different working conditions; the design of the switch control module can also make the domain controller more flexible. By controlling the switch state, different working modes or configurations can be quickly switched to adapt to different work requirements or to deal with emergencies; through the switch control module, safe control of each control link of the domain controller can be achieved. For example, in an emergency, the safe operation of the domain controller can be ensured by disconnecting the corresponding control link to avoid possible accidents; the design of the switch control module helps to achieve system integration. Through a unified control module, the various functional modules of the domain controller can be better integrated, the system structure can be simplified, the system complexity can be reduced, and the reliability and stability of the system can be improved.

[0023] Based on the first aspect, in a possible implementation, the domain controller further includes a communication module, and the communication module is used to communicate with other domain controllers.

[0024] It can be seen that in the embodiment of the present application, the domain controller also includes a communication module, which enables the domain controller to communicate with other domain controllers to achieve information sharing and collaboration. This real-time data exchange and information transmission can help coordinate work between domain controllers. In addition, the communication module can realize data backup and redundant storage, improving the reliability and fault tolerance of the system. By storing data between multiple domain controllers for synchronization and backup, system failures can be prevented and the stable operation of the system can be ensured.

[0025] Based on the first aspect, in a possible implementation, the communication module includes one or more of an Ethernet transceiver and a controller area network transceiver.

[0026] In a second aspect, an embodiment of the present application provides a vehicle control system, which includes at least two domain controllers as in the first aspect.

[0027] Based on the second aspect, in a possible implementation, the at least two domain controllers of the vehicle control system include a first domain controller and a second domain controller, wherein:

[0028] When the relevant control function of the first domain controller is normal, the first domain controller is configured to execute the relevant control function to control the movement of the vehicle;

[0029] When the relevant control function of the first domain controller is abnormal, the second domain controller is configured to execute the relevant control function to control the movement of the vehicle.

[0030] It can be seen that by setting up a second domain controller, the embodiment of the present application can enable the system to seamlessly switch to the backup controller when an abnormality occurs in the first domain controller, thereby preventing the vehicle from being out of control and ensuring the stability and controllability of the vehicle's movement. This redundant design improves the reliability of the system, reduces the risk of single point failures, and improves the safety of the vehicle.

[0031] Based on the second aspect, in a possible implementation, the relevant control functions include a lateral control function and a longitudinal control function;

[0032] When the lateral control function of the first domain controller is normal, the first domain controller is configured to control the lateral movement of the vehicle according to the received lateral control signal; when the lateral function of the first domain controller is abnormal, the second domain controller is configured to control the lateral movement of the vehicle according to the lateral control signal;

[0033] When the longitudinal control function of the first domain controller is normal, the first domain controller is configured to control the longitudinal movement of the vehicle according to the received longitudinal control signal; when the longitudinal function of the first domain controller is abnormal, the second domain controller is configured to control the longitudinal movement of the vehicle according to the longitudinal control signal.

[0034] Based on the second aspect, in a possible implementation, the lateral control function includes a steering control function: when the steering control function of the first domain controller is normal, the first domain controller is configured to control the lateral movement of the vehicle according to the received steering control signal; when the steering function of the first domain controller is abnormal, the second domain controller is configured to control the lateral movement of the vehicle according to the steering control signal; and / or,

[0035] The longitudinal control function includes a driving control function and / or a braking control function: when the driving control function of the first domain controller is normal, the first domain controller is configured to control the longitudinal movement of the vehicle according to the received driving control signal; when the driving function of the first domain controller is abnormal, the second domain controller is configured to control the longitudinal movement of the vehicle according to the driving control signal; and / or, when the braking control function of the first domain controller is normal, the first domain controller is configured to control the longitudinal movement of the vehicle according to the received braking control signal; when the braking function of the first domain controller is abnormal, the second domain controller is configured to control the longitudinal movement of the vehicle according to the braking control signal.

[0036] Based on the second aspect, in a possible implementation, when the steering control function of the first domain controller is normal, the steering control link in the first domain controller is set to be connected, and the steering control link in the second domain controller is set to be disconnected; when the steering function of the first domain controller is abnormal, the steering control link in the first domain controller is set to be disconnected, and the steering control link in the second domain controller is set to be connected; the domain controller is set to control the lateral movement of the vehicle according to the steering control signal only when its steering control link is connected; and / or,

[0037] When the driving control function of the first domain controller is normal, the driving control link in the first domain controller is set to be turned on, and the driving control link in the second domain controller is set to be turned off; when the driving function of the first domain controller is abnormal, the driving control link in the first domain controller is set to be turned off, and the driving control link in the second domain controller is set to be turned on; the domain controller is set to control the longitudinal movement of the vehicle according to the driving control signal only when its driving control link is turned on; and / or,

[0038] When the braking control function of the first domain controller is normal, the braking control link in the first domain controller is set to be connected, and the braking control link in the second domain controller is set to be disconnected; when the braking function of the first domain controller is abnormal, the braking control link in the first domain controller is set to be disconnected, and the braking control link in the second domain controller is set to be connected; the domain controller is set to have its braking control link connected only when the longitudinal movement of the vehicle can be controlled according to the braking control signal.

[0039] Based on the second aspect, in a possible implementation, the steering control link is configured to be connected including the connection between the steering control unit in the corresponding domain controller and the steering drive unit and the connection between the steering drive unit and the steering device of the vehicle, and the steering control link is configured to be disconnected including the connection between the steering control unit in the corresponding domain controller and the steering drive unit or the connection between the steering drive unit and the steering device; and / or,

[0040] The drive control link is configured to be connected, including the connection between the drive control unit in the corresponding domain controller and the drive drive unit, and the connection between the drive drive unit and the drive device of the vehicle; the drive control unit is configured to be disconnected, including the connection between the drive control unit in the corresponding domain controller and the drive drive unit, or the connection between the drive drive unit and the drive device; and / or,

[0041] The braking control link is configured to be conductive, including the connection between the braking control unit in the corresponding domain controller and the braking drive unit, and the connection between the braking drive unit and the braking device of the vehicle. The braking control unit is configured to be disconnected, including the connection between the braking control unit in the corresponding domain controller and the braking drive unit, or the connection between the braking drive unit and the braking device.

[0042] Based on the second aspect, in a possible implementation, the second domain controller is further used to receive first status data sent by the first domain controller, and whether the relevant control function of the first domain controller is abnormal is determined based on the first status data.

[0043] It can be seen that the first state data can be used as a basis for determining whether the first domain controller is abnormal. When the first domain controller is abnormal, the vehicle control system can automatically switch from the first domain controller to the second domain controller for control according to the first state data, thereby ensuring the safe operation of the vehicle and improving the reliability and fault tolerance of the system.

[0044] Based on the second aspect, in a possible implementation, the system further includes a driving controller, and the driving controller is used to send a control strategy to the domain controller, where the control strategy includes a lateral control strategy and / or a longitudinal control strategy.

[0045] Based on the second aspect, in a possible implementation, the first domain controller is also used to receive a matching instruction sent by the driving controller, and when the matching conditions are met, the first domain controller sends a matching response to the driving controller, so as to control the vehicle according to the control strategy sent by the driving controller, the control strategy including a lateral control signal and / or a longitudinal control signal.

[0046] It can be seen that in the embodiment of the present application, by matching the control strategy sent by the driving controller, the first domain controller can be helped to ensure that the operation of the vehicle is in line with the driver's intention. Figure 1 This reduces the risk of driving misunderstanding or error and improves driving safety.

[0047] Based on the second aspect, in a possible implementation, the second domain controller is further used to receive a matching instruction sent by the driving controller, and send a matching response to the first domain controller when the first domain controller meets the matching conditions.

[0048] In a third aspect, an embodiment of the present application provides a computing device, comprising a memory and a processor, wherein the memory is used to store instructions, and the processor is used to execute the instructions stored in the memory to implement the domain controller described in the first aspect and any possible implementation of the first aspect, or the vehicle control system described in the second aspect and any possible implementation of the second aspect.

[0049] In a fourth aspect, an embodiment of the present application provides a computer storage medium, including program instructions, to implement the above-mentioned first aspect and any possible implementation method of the first aspect or the above-mentioned second aspect and any possible implementation method of the second aspect.

[0050] In a fifth aspect, the present application provides a computer program product, including program instructions. The computer program product may be a software installation package, and when it is necessary to use the domain controller provided by any possible design of the first aspect or the vehicle control system provided by any two possible designs of the second aspect, the computer program product may be downloaded and executed to implement the domain controller described in the first aspect and any possible implementation of the first aspect or the vehicle control system described in the second aspect and any one of the second aspects.

[0051] In a sixth aspect, the present application provides a vehicle, the vehicle comprising the domain controller described in the first aspect and any possible implementation of the first aspect, or the vehicle comprising the vehicle control system described in the second aspect and any possible implementation of the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the background technology, the drawings required for use in the embodiments of the present application or the background technology will be described below.

[0053] Figure 1 is a schematic diagram of a domain controller provided by the present application;

[0054] Figure 2It is a structural diagram of another domain controller provided by this application;

[0055] Figure 3 It is a structural schematic diagram of a vehicle control system provided by the present application;

[0056] Figure 4 It is a structural schematic diagram of a computing device provided by the present application;

[0057] Figure 5 It is a structural schematic diagram of a vehicle provided by the present application. DETAILED DESCRIPTION

[0058] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0059] It should be noted that the terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms of "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0060] It should be noted that when used in this specification and the appended claims, the terms "comprises" and any of their variations are intended to cover non-exclusive inclusions. For example, a system, product or device including a series of units / devices is not limited to the listed units / devices, but may optionally include units / devices not listed, or may also optionally include other units / devices inherent to these products or devices.

[0061] It will also be understood that the term “if” may be interpreted as “when” or “upon” or “in response to determining” or “in response to detecting” or “in the event of…” depending on the context.

[0062] This application provides a domain controller 100, see Figure 1 , Figure 1 A schematic diagram of a domain controller 100 provided in the present application. The domain controller 100 includes a horizontal control module 110 and a vertical control module 120 .

[0063] The lateral control module 110 is used to control the lateral movement of the vehicle according to the received lateral control signal. The lateral control module 110 includes a steering control unit, which is used to control the lateral movement of the vehicle according to the steering control signal.

[0064] The lateral control signal is a signal used to control the horizontal (lateral) movement of the vehicle. It indicates whether the vehicle should turn left, turn right, or keep driving straight, etc. The lateral control signal can be a digital signal or an analog signal. The lateral control signal is transmitted to the steering control unit through the intelligent driving controller to adjust the direction of the vehicle. It should be noted that the lateral control signal includes the steering control signal.

[0065] The longitudinal control module 120 is used to control the longitudinal movement of the vehicle according to the received longitudinal control signal. The longitudinal control module 120 includes a braking control unit and a driving control unit. The braking control unit is used to control the longitudinal movement of the vehicle according to the braking control signal; the driving control unit is used to control the longitudinal movement of the vehicle according to the driving control signal.

[0066] The longitudinal control signal is a signal used to control the movement of the vehicle in the vertical direction (longitudinal). The longitudinal control signal affects the acceleration and deceleration behavior of the vehicle. It can include a braking control signal and a driving control signal.

[0067] The domain controller 100 further includes a lateral driving module 130 . The lateral driving module 130 is used to control a lateral motion device of the vehicle according to the lateral control torque sent by the lateral control module 110 .

[0068] It should be noted that the lateral driving module 130 includes a steering driving unit, and the steering driving unit is used to control the steering device according to the steering control torque. The lateral control torque includes the steering control torque, and the lateral motion device includes the steering device.

[0069] The domain controller 100 further includes a longitudinal drive module 140. The longitudinal drive module 140 is used to control the longitudinal motion device of the vehicle according to the longitudinal control torque sent by the longitudinal control module 120. The longitudinal control torque includes a braking control torque and / or a driving control torque.

[0070] The longitudinal drive unit includes a brake drive unit and / or a drive drive unit, the brake drive unit is used to control the brake device according to the brake control torque; the drive drive unit is used to control the drive device according to the drive control torque. The longitudinal motion device includes a brake device and / or a drive device.

[0071] It should be noted that information can be transmitted between the steering control unit and the steering drive unit, between the braking control unit and the braking drive unit, and between the drive control unit and the drive drive unit via hard-wire signals. The transmission medium of the hard-wire signal can be various types of cables, such as coaxial cables and twisted pairs. This application does not specifically limit the transmission medium of the hard-wire signal.

[0072] It should also be noted that the number of drive devices in this application is four, and the four drive devices independently control the wheel-end torque of the four wheels. The number of drive devices can also be two or three. When the number of drive devices is reduced to two or three, one or two drive devices will control two wheels. Although it is impossible to independently control four wheels, two or three drive devices can also achieve intelligent driving. This application does not make any specific restrictions on the number of drive devices.

[0073] The domain controller 100 further includes a switch control module 150, which is used to control the on / off of at least one of the steering control link, the drive control link, and the brake control link of the domain controller 100. The steering control link includes the connection between the steering control unit and the steering drive unit and / or the connection between the steering drive unit and the steering device, the drive control link includes the connection between the drive control unit and the drive drive unit and / or the connection between the drive drive unit and the drive device, and the brake control link includes the connection between the brake control unit and the brake drive unit and / or the connection between the brake drive unit and the brake device.

[0074] It should be noted that the lateral control module 110 , the longitudinal control module 120 and the switch control module 150 may be integrated into a microcontroller unit.

[0075] The domain controller 100 further includes a communication module 160, which is used to communicate with other domain controllers 100. The communication module 160 includes one or more of an Ethernet transceiver and a controller area network (CAN) transceiver.

[0076] The Ethernet transceiver is used to receive and analyze Ethernet signals. Ethernet signals refer to signals for data communication through the Ethernet protocol. The transmission medium of Ethernet signals is usually a network cable (twisted pair) or an optical fiber. The application does not make any specific restrictions on the transmission medium of Ethernet signals.

[0077] The CAN transceiver is used to receive and parse CAN / CANFD signals to achieve communication between the domain controller 100 and the intelligent driving controller. Among them, CAN / CANFD signals are usually transmitted through twisted pair cables, that is, two insulated copper wires are twisted together in a certain way to reduce interference and improve signal quality.

[0078] It should be noted that this application does not specifically limit the type of the communication module 160 .

[0079] The domain controller 100 further includes a power management module 170 , which is used to receive external power supply and convert the external voltage into a voltage suitable for each module and / or unit inside the domain controller 100 .

[0080] In one implementation, the brake device can also be replaced with the current mainstream hydraulic brake solution. The brake control unit sends the brake control torque to the hydraulic control unit, and the hydraulic control unit adjusts the hydraulic pressure of different brake units by controlling the opening and closing of the corresponding solenoid valves, thereby achieving the purpose of controlling the braking force.

[0081] In another implementation, the braking control unit and the driving control unit in the longitudinal control module may not be integrated into the longitudinal control module, but are separated. The steering control unit, the driving control unit, the braking control unit and the switch control module are integrated into the microcontroller unit. Figure 2 , Figure 2 A schematic diagram of the structure of another domain controller provided in the present application, wherein the steering control unit 210, the braking control unit 220, and the driving control unit 230 exist separately, and the steering drive unit 240, the braking drive unit 250, the driving drive unit 260, the switch control module 270, the communication module 280, and the power management module 290 are connected to the Figure 1 To keep it consistent, for the sake of brevity of the patent, it will not be repeated here. Among them, the steering control unit 210, the braking control unit 220, the driving control unit 230 and the switch control module 270 are integrated in the microprocessing unit.

[0082] In another implementation, the braking control unit and the steering control unit are integrated into a longitudinal control module. When the vehicle needs to turn, the appropriate steering control torque and braking control torque are output, and the steering is performed by using the extension and contraction of the steering column tie rod and the wheel speed difference (differential steering) generated by braking one side of the wheel.

[0083] It can be seen that in the embodiment of the present application, the domain controller includes a lateral control module and a longitudinal control module. Compared with the traditional solution, the lateral control module and the longitudinal control module are independently distributed, and the intelligent driving controller needs to send control strategy information to the lateral control module and the longitudinal control module respectively. In the embodiment of the present application, these lateral control modules and longitudinal control modules are integrated and deployed in the domain controller. When the intelligent driving controller sends control strategy information, it only needs to send it to the domain controller once, which saves interaction time and improves interaction efficiency, so that the intelligent driving response is more timely, and when the vehicle deviates from the direction and track, it is convenient to adjust the vehicle quickly and more accurately.

[0084] The present application provides a vehicle control system 300, see Figure 3 , Figure 3 The vehicle control system includes at least two components. Figure 1 The domain controller and the intelligent driving domain controller 330. This application takes the vehicle control system including the first domain controller 310 and the second domain controller 320 as an example for introduction.

[0085] The driving controller is used to send a control strategy to the domain controller, and the control strategy includes a lateral control strategy and / or a longitudinal control strategy.

[0086] The following will explain in detail how the intelligent driving domain controller 330, the first domain controller 310 and the second domain controller 320 collaborate to control vehicle movement.

[0087] Before the vehicle is driven intelligently, the intelligent driving function of the vehicle needs to be activated. If the intelligent driving function is activated incorrectly, it may cause unexpected lateral or longitudinal movement of the vehicle, which may pose a threat to the safety of the vehicle and passengers. Among them, lateral movement refers to the movement of the vehicle in the horizontal direction, that is, the process of the vehicle moving laterally along the road. For example, lateral movement occurs when the vehicle changes lanes, turns, or merges. Longitudinal movement refers to the movement of the vehicle in the vertical direction, that is, the process of the vehicle moving in the longitudinal direction of the road. For example, the acceleration, deceleration, and parking of the vehicle are all longitudinal movements.

[0088] Therefore, before the intelligent driving function is activated, the intelligent driving domain controller 330 sends matching instructions to the first domain controller 310 and the second domain controller 320 respectively to ensure that a reliable communication connection is established between the first domain controller 310 and the intelligent driving domain controller 330 and between the second domain controller 320 and the intelligent driving domain controller 330, and to verify the functional status of each other to avoid the erroneous activation of the intelligent driving function.

[0089] There are many ways to trigger the intelligent driving domain controller 330 to send a matching instruction. For example, the driver can trigger the intelligent driving domain controller 330 to send a matching instruction through a specially designed physical button inside the vehicle. These buttons are usually located on the steering wheel, center console or other locations that are easy for the driver to operate. The driver presses a specific physical button, and after the intelligent driving domain controller 330 receives the button signal, it triggers the sending of a matching instruction and starts the intelligent driving function.

[0090] For another example, the driver can trigger the intelligent driving domain controller 330 to send a matching instruction through the touch screen inside the vehicle. The touch screen usually displays the vehicle control interface, including the intelligent driving function. The driver finds a control button or option related to the intelligent driving function on the touch screen, and triggers the sending of the matching instruction by clicking the operation to start the intelligent driving function.

[0091] For another example, the driver can trigger the intelligent driving domain controller 330 to send a matching command through voice commands. The vehicle is equipped with a voice recognition system that can recognize the driver's voice commands. The driver issues a specific voice command, such as "start intelligent driving", and the voice recognition system will recognize the command and convert it into a control signal, triggering a handshake request to start the intelligent driving function.

[0092] This application does not specifically limit the method of triggering the intelligent driving domain controller 330 to send a matching instruction.

[0093] Therefore, after the intelligent driving domain controller 330 receives the instruction to trigger the intelligent driving function through the above or other methods, it needs to send a matching instruction to the first domain controller 310 and the second domain controller 320.

[0094] In a specific embodiment, the intelligent driving domain controller 330 sends a matching instruction to the first domain controller 310, and the matching instruction can be sent to the first domain controller 310 via a CAN / CANFD signal. After the first domain controller 310 receives the matching instruction sent by the intelligent driving domain controller 330, if the matching conditions are met, the first domain controller 310 sends a matching response to the intelligent driving domain controller 330 through the first CAN transceiver to indicate that each module and / unit in the first domain controller 310 is normal and can start transmitting data and instructions to realize various functions and operations of intelligent driving. Among them, the matching conditions include but are not limited to the normal status of each module of the first domain controller 310, the smooth communication connection between the first domain controller 310 and the intelligent driving domain controller 330, and the compatibility of the software version of the first domain controller 310 with the intelligent driving system. Regarding the matching conditions, this application does not make specific restrictions. It should be noted that the intelligent driving domain controller 330 will also send a matching instruction to the second domain controller 320. After the second domain controller 320 receives the matching instruction sent by the driving controller, the first domain controller 310 sends a matching response to the first domain controller 310 if the matching condition is met. It should be noted that there is no order in which the intelligent driving domain controller 330 sends the matching instruction to the first domain controller 310 and the intelligent driving domain controller 330 sends the matching instruction to the second domain controller 320.

[0095] After the intelligent driving domain controller 330 is matched with the first domain controller 310 and the second domain controller 320 respectively, the intelligent driving domain controller 330 interacts with the first domain controller 310 and the second domain controller 320 to realize control of the vehicle.

[0096] The intelligent driving domain controller 330 obtains environmental information around the vehicle through on-board sensors (such as radar, camera, laser radar, etc.), including road conditions, obstacles, vehicles and pedestrians, and then uses algorithms to predict possible future situations to determine safe steering angles and speed changes. Based on the results of path planning and environmental perception, the intelligent driving domain controller 330 uses a specific control algorithm (such as PID controller, model predictive controller, etc.) to calculate the actual required target steering angle, target acceleration and target deceleration, and sends the control strategy to the first domain controller 310.

[0097] It should be noted that the control strategy includes at least one of an activation request, a steering control signal, a braking control signal, and a driving control signal. The steering control signal is a target steering angle, the braking control signal is a target deceleration, and the driving control signal is a target acceleration. Among them, one of the target acceleration and the target deceleration is 0.

[0098] The activation request may be a message header, and the target steering angle, target acceleration, and target deceleration may be a message body. The intelligent driving domain controller 330 sends the activation request, target steering angle, target acceleration, and target deceleration as a complete message to the first domain controller 310 via a CAN / CANFD signal.

[0099] The target acceleration is used to describe the increase in speed of the vehicle during movement, that is, the rate of increase in speed. The value of the target acceleration is greater than or equal to 0. The value of the target acceleration can be obtained by calculating the difference between the target speed and the current speed and dividing it by the unit time. The target speed is the expected speed set by the intelligent driving domain controller 330 based on the current state of the vehicle and road conditions, and the current speed is the actual speed of the vehicle.

[0100] The target deceleration is used to describe the speed reduction of the vehicle during movement, that is, the speed reduction rate. The value of the target deceleration is less than or equal to 0. The value of the target deceleration can be obtained by calculating the difference between the target speed and the current speed and dividing it by the unit time.

[0101] Similarly, the intelligent driving domain controller 330 will also send the control strategy to the second domain controller 320 via the CAN / CANFD signal. Among them, the control strategy is basically the same as the control strategy mentioned above. For the simplicity of the patent, it will not be repeated here.

[0102] After the first domain controller 310 receives the control strategy sent by the intelligent driving domain controller 330, when it is determined that the relevant control function of the first domain controller 310 is normal, the first domain controller 310 is configured to execute the relevant control function to control the movement of the vehicle. When the relevant control function of the first domain controller 310 is abnormal, the second domain controller 320 is configured to execute the relevant control function to control the movement of the vehicle. The relevant control function includes a lateral control function and a longitudinal control function.

[0103] The lateral control function refers to the function of the vehicle control system to adjust and control the vehicle's movement in the horizontal direction. The lateral control function includes the vehicle's steering control, that is, how the vehicle turns to adapt to the driver's control intention. For example, when the driver turns the steering wheel, the lateral control function adjusts the vehicle's steering angle to make the vehicle go in the expected direction.

[0104] Longitudinal control refers to the function of the vehicle control system to adjust and control the movement of the vehicle in the vertical direction. The longitudinal control function includes the acceleration and acceleration control of the vehicle, that is, how the vehicle changes its speed in the vertical direction. For example, when the driver steps on the accelerator or brake, the longitudinal control function will increase or decrease the speed of the vehicle accordingly.

[0105] It should be noted that the conditions required for the normal operation of the relevant control functions include, but are not limited to, a normal control unit, a normal drive control unit, a normal brake control unit, a normal steering drive unit, a normal brake drive unit, and a normal drive drive unit. This application does not make specific restrictions on the conditions required for the normal operation of the relevant control functions.

[0106] Specifically, when the lateral control function of the first domain controller 310 is normal, the first domain controller 310 is configured to control the lateral movement of the vehicle according to the received lateral control signal. When the lateral function of the first domain controller 310 is abnormal, the second domain controller 320 is configured to control the lateral movement of the vehicle according to the lateral control signal.

[0107] The lateral control function includes a steering control function. When the steering control function of the first domain controller 310 is normal, the first domain controller 310 is configured to control the lateral movement of the vehicle according to the received steering control signal.

[0108] In a specific embodiment, when the steering control function of the first domain controller 310 is normal, the first domain controller 310 is configured to control the lateral movement of the vehicle according to the received steering control signal. The steering control unit calculates the steering control torque according to the difference between the target steering angle and the current steering wheel angle, and the steering drive unit in the first domain controller 310 controls the steering device according to the steering control torque.

[0109] For example, the current steering wheel angle is 30 degrees, and the target steering angle request sent by the intelligent driving domain controller 330 is 45 degrees. The difference between the current steering wheel angle and the target request angle is calculated to the control unit: difference = target steering angle - current steering wheel angle = 45 degrees - 30 degrees = 15 degrees. The required steering control torque is determined based on the calculated difference (15 degrees). Assuming that the steering control unit calculates that the steering control torque to be applied is 20 Nm based on the difference, the steering drive unit in the first domain controller 310 adjusts the current of the steering device based on the calculated steering control torque (20 Nm). The steering device will implement the steering action of the vehicle according to the magnitude of the current, so that the vehicle turns toward the target angle of 45 degrees.

[0110] When the steering function of the first domain controller 310 is abnormal, the second domain controller 320 is configured to control the lateral movement of the vehicle according to the steering control signal. The steering control unit in the second domain controller 320 calculates the steering control torque according to the difference between the target steering angle and the current steering wheel angle, and the steering drive unit in the second domain controller 320 controls the steering device according to the steering control torque.

[0111] It should be noted that, when the steering control function of the first domain controller 310 is normal, the steering control link in the first domain controller 310 is set to be connected, and the steering control link in the second domain controller 320 is set to be disconnected; when the steering function of the first domain controller 310 is abnormal, the steering control link in the first domain controller 310 is set to be disconnected, and the steering control link in the second domain controller 320 is set to be connected; the domain controller is set to have its steering control link connected only when the lateral movement of the vehicle can be controlled according to the steering control signal.

[0112] The steering control link is set to be connected, including the connection between the steering control unit in the corresponding domain controller and the steering drive unit, and the connection between the steering drive unit and the steering device of the vehicle. The steering control link is set to be disconnected, including the connection between the steering control unit in the corresponding domain controller and the steering drive unit, or the connection between the steering drive unit and the steering device.

[0113] When the longitudinal control function of the first domain controller 310 is normal, the first domain controller 310 is configured to control the longitudinal movement of the vehicle according to the received longitudinal control signal; when the longitudinal function of the first domain controller 310 is abnormal, the second domain controller 320 is configured to control the longitudinal movement of the vehicle according to the longitudinal control signal.

[0114] The longitudinal control function includes a driving control function and / or a braking control function.

[0115] When the driving control function of the first domain controller 310 is normal, the first domain controller 310 is configured to control the longitudinal movement of the vehicle according to the received driving control signal.

[0116] Specifically, the driving control module calculates the driving control torque according to the target acceleration, and the driving unit in the first domain controller 310 adjusts the current of the driving device according to the driving control torque, thereby controlling the longitudinal movement of the vehicle.

[0117] When the driving function of the first domain controller 310 is abnormal, the second domain controller 320 is configured to control the longitudinal movement of the vehicle according to the driving control signal.

[0118] It should be noted that when the driving control function of the first domain controller 310 is normal, the driving control link in the first domain controller 310 is set to be on, and the driving control link in the second domain controller 320 is set to be off; when the driving function of the first domain controller 310 is abnormal, the driving control link in the first domain controller 310 is set to be off, and the driving control link in the second domain controller 320 is set to be on. Only when the domain controller is set to have its driving control link on can the longitudinal movement of the vehicle be controlled according to the driving control signal.

[0119] Optionally, the connection between the steering drive unit and the steering device, the connection between the driving drive unit and the driving device, and the connection between the braking drive unit and the braking device are achieved by controlling the driving shutdown control module through the switch control module.

[0120] The drive control link is set to be connected, including the connection between the drive control unit in the corresponding domain controller and the drive drive unit, and the connection between the drive drive unit and the drive device of the vehicle. The drive control unit is set to be disconnected, including the connection between the drive control unit in the corresponding domain controller and the drive drive unit, or the connection between the drive drive unit and the drive device.

[0121] When the brake control function of the first domain controller 310 is normal, the first domain controller 310 is configured to control the longitudinal movement of the vehicle according to the received brake control signal.

[0122] Specifically, the brake control unit calculates the brake control torque according to the target deceleration, and the brake drive unit in the first domain controller 310 adjusts the current of the brake device according to the brake control torque, thereby controlling the longitudinal movement of the vehicle.

[0123] When the braking function of the first domain controller 310 is abnormal, the second domain controller 320 is configured to control the longitudinal movement of the vehicle according to the braking control signal.

[0124] It should be noted that, when the braking control function of the first domain controller 310 is normal, the braking control link in the first domain controller 310 is set to be turned on, and the braking control link in the second domain controller 320 is set to be disconnected; when the braking function of the first domain controller 310 is abnormal, the braking control link in the first domain controller 310 is set to be disconnected, and the braking control link in the second domain controller 320 is set to be turned on; the domain controller is set to have its braking control link turned on before it can control the longitudinal movement of the vehicle according to the braking control signal.

[0125] The braking control link is configured to be conductive, including the connection between the braking control unit in the corresponding domain controller and the braking drive unit, and the connection between the braking drive unit and the braking device of the vehicle. The braking control unit is configured to be disconnected, including the connection between the braking control unit in the corresponding domain controller and the braking drive unit, or the connection between the braking drive unit and the braking device.

[0126] It should be noted that the steering control link, drive control link, and brake control link in the first domain controller 310 are connected by default, and the corresponding links will be disconnected only when one or more modules in the first domain controller 310 fail. The steering control link, drive control link, and brake control link in the second domain controller 320 are disconnected by default, and the corresponding links in the second domain controller 320 will be connected only when one or more modules in the first domain controller 310 fail.

[0127] It should also be noted that the second domain controller 320 will also receive the first status data sent by the first domain controller 310, wherein whether the relevant control function of the first domain controller 310 is abnormal is determined based on the first status data. The first domain controller 310 will also receive the second status data sent by the second domain controller 320, wherein whether the relevant control function of the second domain controller 320 is abnormal is determined based on the second status data. The first status data and the second status data include the calculated steering control torque, braking control torque, drive control torque, the handshake response between the intelligent driving domain controller 330, the working state of its own steering control unit, the working state of its own steering steering drive unit, the working state of its own braking control unit, the working state of its own braking drive unit, the working state of its own drive control unit, the working state of its own drive drive unit, and the working state of its own hardware or operating system. As long as it can reflect the state of the first domain controller 310 or the second domain controller 320 itself, it will be sent to the other party in real time through the Ethernet signal. Regarding the specific content of the first status data and the second status data, this application does not make specific restrictions.

[0128] Optionally, the second domain controller 320 performs timeout monitoring on the information sent by the first domain controller 310 to ensure that when the first domain controller 310 cannot send a fault status due to a fault, the second domain controller 320 determines that the first domain controller 310 is faulty through information timeout and takes over.

[0129] In one implementation, the first domain controller 310 also monitors whether the relevant functions in the first domain controller 310 are normal during operation. If the first domain controller 310 finds that one or more of the relevant functions are abnormal, it will feedback this information to the intelligent driving domain controller 330. If the relevant functions are still abnormal after a period of time, and the intelligent driving domain controller 330 does not send an exit instruction, the switch control module in the first domain controller 310 sets the steering control link, the drive control link, and the brake control link in the first domain controller 310 to be disconnected. In addition, the first domain controller 310 sends an alarm message to the driver. For example, the first domain controller 310 can send an alarm sound through the vehicle's internal audio system; for another example, the first domain controller 310 can display a warning message through a warning light or display screen on the vehicle's dashboard; for another example, the first domain controller 310 can transmit a warning message to the driver through a vibration device in a seat or steering wheel. Regarding the way in which the first domain controller 310 sends an alarm message to the driver, this application does not specifically limit it.

[0130] After receiving the instruction to exit the intelligent driving, the intelligent driving domain controller 330 sends the exit instruction to the first domain controller 310 and the second domain controller 320 respectively. The exit instruction can be triggered by the driver manually turning off the intelligent driving button, the driver turning off the intelligent driving through the touch screen inside the vehicle, and the driver turning off the intelligent driving through a voice command.

[0131] It can be seen that in the embodiment of the present application, the vehicle controller includes at least two domain controllers. This design allows the second domain controller to intervene in time when a problem occurs in the first domain controller to prevent the vehicle from becoming uncontrolled and ensure the stability and controllability of the vehicle's movement.

[0132] The present application also provides a computing device, see Figure 4 , Figure 4 A schematic diagram of a computing device 400 provided in this application, wherein the computing device 400 is used to implement Figure 1 or Figure 2 The domain controller or Figure 3The vehicle control system, computing device 400 includes: processor 410, communication interface 420 and memory 430. The processor 410, communication interface 420 and memory 430 can be interconnected via internal bus 440, or can communicate via other means such as wireless transmission.

[0133] Taking the connection through bus 440 as an example, bus 440 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. Bus 440 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0134] The processor 410 may be composed of at least one general-purpose processor, such as a CPU, or a combination of a CPU and a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof. The processor 410 executes various types of digital storage instructions, such as software or firmware programs stored in the memory 430, which enables the computing device 400 to provide a wide variety of services.

[0135] The memory 430 is used to store program codes and is controlled by the processor 410 to execute the program codes. Figure 1 or Figure 2 The domain controller or Figure 3 The vehicle control system may be specifically described in the above-mentioned embodiment, which will not be elaborated here.

[0136] The memory 430 may include a volatile memory, such as a RAM; the memory 430 may also include a non-volatile memory, such as a ROM, a flash memory; the memory 430 may also include a combination of the above types.

[0137] The communication interface 420 can be a wired interface (such as an Ethernet interface), an internal interface (such as a high-speed serial computer expansion bus (peripheral component interconnect express, PCIE) bus interface), a wired interface (such as an Ethernet interface) or a wireless interface (such as a cellular network interface or a wireless local area network interface) for communicating with other devices or modules.

[0138] The processor 410, the communication interface 420, etc. in the computing device 400 can implement Figure 1 or Figure 2 The domain controller or Figure 3 For the sake of brevity, the vehicle control system is not described in detail here. The lateral control module 110, longitudinal control module 120, lateral drive module 130, longitudinal drive module 140, switch control module 150, communication module 160, and power management module 170 in the domain controller 100 may be located in the processor 410 in the computing device 400; the steering control unit 210, braking control unit 220, drive control unit 230, steering drive unit 240, braking drive unit 250, drive drive unit 260, switch control module 270, communication module 280, and power management module 290 in the domain controller 200 may be located in the processor 410 in the computing device 400. The first domain controller 310, the second domain controller 320, and the intelligent driving domain controller 330 in the vehicle control system may be located in the processor 410 in the computing device 400. It should be noted that, Figure 4 This is only a possible implementation of the embodiment of the present application. In practical applications, the computing device may also include more or fewer components, which is not limited here. For the contents not shown or described in the embodiment of the present application, please refer to the relevant description in the embodiment described in the aforementioned method, which will not be repeated here.

[0139] The present application also provides a vehicle, such as Figure 5 As shown, Figure 5 This is a schematic structural diagram of a vehicle 500 provided in the present application. The vehicle 500 includes a domain controller 100 or a domain controller 200, or the vehicle includes a vehicle control system 300.

[0140] The present application also provides a computer storage medium including program instructions to implement the domain controller or vehicle control system described above.

[0141] The present application also provides a computer program product, including program instructions. When the program instructions are executed by a domain controller or a vehicle control system, the domain controller or the right domain controller executes some or all of the steps described in the above-mentioned embodiment of the lateral and longitudinal control method of the intelligent driving vehicle.

[0142] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0143] In the above embodiments, it can be implemented in whole or in part by software, hardware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product may include code. When the computer program product is read and executed by a computer, some or all steps of the method recorded in the above method embodiment may be implemented. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integration. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium, or a semiconductor medium, etc.

[0144] The steps in the method of the embodiment of the present application can be adjusted in order, combined or deleted according to actual needs; the units in the device of the embodiment of the present application can be divided, combined or deleted according to actual needs.

[0145] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A domain controller, characterized in that: The domain controller includes a horizontal control module and a vertical control module, wherein: The lateral control module is used to control the lateral movement of the vehicle according to the received lateral control signal; The longitudinal control module is used to control the longitudinal movement of the vehicle according to the received longitudinal control signal.

2. The domain controller according to claim 1, characterized in that: The domain controller further includes a horizontal driving module and a vertical driving module, wherein: The lateral drive module is used to control a lateral motion device of the vehicle according to a lateral control torque sent by the lateral control module, wherein the lateral control torque is determined based on the lateral control signal; The longitudinal driving module is used to control the longitudinal motion device of the vehicle according to the longitudinal control torque sent by the longitudinal control module, and the longitudinal control torque is determined based on the longitudinal control signal.

3. The domain controller according to claim 1 or 2, characterized in that: The lateral control module includes a steering control unit, the lateral control signal includes a steering control signal, and the steering control unit is used to control the lateral movement of the vehicle according to the steering control signal; and / or, The longitudinal control module includes a braking control unit and a driving control unit, and the longitudinal control signal includes a braking control signal and / or a driving control signal; the driving control unit is used to control the longitudinal movement of the vehicle according to the driving control signal, and the braking control unit is used to control the longitudinal movement of the vehicle according to the braking control signal.

4. The domain controller according to claim 2, wherein: The lateral drive module includes a steering drive unit, the lateral control torque includes a steering control torque, the lateral motion device includes a steering device, and the steering drive unit is used to control the steering device according to the steering control torque; and / or, The longitudinal drive unit includes a braking drive unit and / or a driving drive unit, the longitudinal control torque includes a braking control torque and / or a driving control torque, and the longitudinal motion device includes a braking device and / or a driving device; the braking drive unit is used to control the braking device according to the braking control torque; and the driving drive unit is used to control the driving device according to the driving control torque.

5. The domain controller according to claim 4, characterized in that: The steering control signal is a steering angle, and the steering control torque is determined based on a difference between the steering angle and a current steering wheel angle of the vehicle; and / or, The braking control signal is a deceleration; and / or The driving control signal is acceleration.

6. The domain controller according to claim 4 or 5, characterized in that: The domain controller also includes a switch control module; The switch control module is used to control the on and off of at least one of the steering control link, the drive control link and the brake control link of the domain controller, the steering control link includes the connection between the steering control unit and the steering drive unit and / or the connection between the steering drive unit and the steering device, the drive control link includes the connection between the drive control unit and the drive drive unit and / or the connection between the drive drive unit and the drive device, and the brake control link includes the connection between the brake control unit and the brake drive unit and / or the connection between the brake drive unit and the brake device.

7. The domain controller according to any one of claims 1 to 6, characterized in that: The domain controller further comprises a communication module, and the communication module is used for communicating with other domain controllers.

8. The domain controller according to claim 7, characterized in that: The communication module includes one or more of an Ethernet transceiver and a controller area network transceiver.

9. A vehicle control system, characterized in that: The vehicle control system comprises at least two domain controllers according to any one of claims 1 to 8.

10. The vehicle control system according to claim 9, characterized in that: The at least two domain controllers include a first domain controller and a second domain controller, wherein: When the relevant control function of the first domain controller is normal, the first domain controller is configured to be able to execute the relevant control function to control the movement of the vehicle; When the relevant control function of the first domain controller is abnormal, the second domain controller is configured to execute the relevant control function to control the movement of the vehicle.

11. The vehicle control system according to claim 10, characterized in that: The relevant control functions include lateral control functions and longitudinal control functions; When the lateral control function of the first domain controller is normal, the first domain controller is configured to control the lateral movement of the vehicle according to the received lateral control signal; when the lateral function of the first domain controller is abnormal, the second domain controller is configured to control the lateral movement of the vehicle according to the lateral control signal; When the longitudinal control function of the first domain controller is normal, the first domain controller is configured to control the longitudinal movement of the vehicle according to the received longitudinal control signal; when the longitudinal function of the first domain controller is abnormal, the second domain controller is configured to control the longitudinal movement of the vehicle according to the longitudinal control signal.

12. The vehicle control system according to claim 11, characterized in that: The lateral control function includes a steering control function: when the steering control function of the first domain controller is normal, the first domain controller is configured to control the lateral movement of the vehicle according to a received steering control signal; when the steering function of the first domain controller is abnormal, the second domain controller is configured to control the lateral movement of the vehicle according to the steering control signal; and / or, The longitudinal control function includes a driving control function and / or a braking control function: when the driving control function of the first domain controller is normal, the first domain controller is configured to control the longitudinal movement of the vehicle according to a received driving control signal; when the driving function of the first domain controller is abnormal, the second domain controller is configured to control the longitudinal movement of the vehicle according to the driving control signal; and / or, when the braking control function of the first domain controller is normal, the first domain controller is configured to control the longitudinal movement of the vehicle according to a received braking control signal; when the braking function of the first domain controller is abnormal, the second domain controller is configured to control the longitudinal movement of the vehicle according to the braking control signal.

13. The vehicle control system according to claim 12, characterized in that: When the steering control function of the first domain controller is normal, the steering control link in the first domain controller is set to be turned on, and the steering control link in the second domain controller is set to be disconnected; when the steering function of the first domain controller is abnormal, the steering control link in the first domain controller is set to be disconnected, and the steering control link in the second domain controller is set to be turned on; the domain controller is set to control the lateral movement of the vehicle according to the steering control signal only when its steering control link is turned on; and / or, When the driving control function of the first domain controller is normal, the driving control link in the first domain controller is set to be turned on, and the driving control link in the second domain controller is set to be turned off; when the driving function of the first domain controller is abnormal, the driving control link in the first domain controller is set to be turned off, and the driving control link in the second domain controller is set to be turned on; the domain controller is set to control the longitudinal movement of the vehicle according to the driving control signal only when its driving control link is turned on; and / or, When the braking control function of the first domain controller is normal, the braking control link in the first domain controller is set to be connected, and the braking control link in the second domain controller is set to be disconnected; when the braking function of the first domain controller is abnormal, the braking control link in the first domain controller is set to be disconnected, and the braking control link in the second domain controller is set to be connected; the domain controller is set to have its braking control link connected so that the longitudinal movement of the vehicle can be controlled according to the braking control signal.

14. The vehicle control system according to claim 13, characterized in that: The steering control link is configured to be connected including the connection between the steering control unit in the corresponding domain controller and the steering drive unit and the connection between the steering drive unit and the steering device of the vehicle; the steering control link is configured to be disconnected including the connection between the steering control unit in the corresponding domain controller and the steering drive unit or the connection between the steering drive unit and the steering device; and / or, The drive control link is configured to be connected, including the connection between the drive control unit in the corresponding domain controller and the drive drive unit, and the connection between the drive drive unit and the drive device of the vehicle; the drive control unit is configured to be disconnected, including the connection between the drive control unit in the corresponding domain controller and the drive drive unit, or the connection between the drive drive unit and the drive device; and / or, The braking control link is configured to be connected, including the connection between the braking control unit in the corresponding domain controller and the braking drive unit, and the connection between the braking drive unit and the braking device of the vehicle. The braking control unit is configured to be disconnected, including the connection between the braking control unit in the corresponding domain controller and the braking drive unit, or the disconnection between the braking drive unit and the braking device.

15. The vehicle control system according to any one of claims 10 to 14, characterized in that: The second domain controller is further used to receive first status data sent by the first domain controller, and whether the relevant control function of the first domain controller is abnormal is determined based on the first status data.

16. The vehicle control system according to any one of claims 10 to 15, characterized in that: The vehicle control system further includes a driving controller, and the driving controller is used to send a control strategy to the domain controller, wherein the control strategy includes a lateral control strategy and / or a longitudinal control strategy.

17. The vehicle control system according to claim 16, characterized in that: The first domain controller is also used to receive a matching instruction sent by the driving controller, and when the matching conditions are met, the first domain controller sends a matching response to the driving controller, so as to control the vehicle according to the control strategy sent by the driving controller, wherein the control strategy includes the lateral control signal and / or the longitudinal control signal.

18. The vehicle control system according to claim 17, characterized in that: The second domain controller is further configured to receive a matching instruction sent by the driving controller, and to send a matching response to the first domain controller when a matching condition is met.

19. A computing device, characterized in that It includes a memory and a processor, the memory is used to store instructions, and the processor is used to execute the instructions stored in the memory to implement the domain controller as described in any one of claims 1 to 8, or to implement the vehicle control system as described in any one of claims 9 to 18.

20. A computer storage medium, characterized in that Comprising program instructions to implement the domain controller as claimed in any one of claims 1 to 8, or to implement the vehicle control system as claimed in any one of claims 9 to 18.

21. A vehicle, characterized in that: The vehicle includes the domain controller according to any one of claims 1 to 8, or the vehicle includes the vehicle control system according to any one of claims 9 to 18.

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