Vehicle control system and control method

Abstract

The embodiment of the invention discloses a vehicle control system and method. According to the technical scheme, the control system of the vehicle comprises at least three driving control units, at least three power distribution control units and at least three power supply units, and each driving control unit is connected with at least part of the power supply units in the at least three power supply units through one power distribution control unit. The at least three driving control units form an annular framework, any two driving control units communicate with each other, and each driving control unit is connected with a target sensor of the vehicle; and the target driving control unit is used for controlling vehicle driving according to the detection data sent by the target sensor under the condition that the target power supply unit supplies power. According to the control system of the vehicle, the at least three driving control units, the power distribution control unit and the power supply unit are arranged, the system has a multi-redundancy design, and the reliability of the control system of the vehicle can be improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of vehicle technology, and relate to but are not limited to a vehicle control system and control method. Background Art

[0002] In the current related technologies, the mainstream vehicle control system generally includes a main electronic control unit (ECU) and a fallback ECU, and the overall availability safety level reaches the highest safety level, such as Automotive Safety Integrity Level D (ASIL D). Among them, the main ECU is connected to all sensors related to vehicle assisted driving and implements full-function assisted driving. The fallback ECU is generally not connected to all sensors, but only to a group of sensors that can maintain limited assisted driving functions.

[0003] However, in the control systems of the above-mentioned mainstream vehicles, when the main ECU fails, the backup ECU can only have limited computing power and sensor input, which cannot meet the requirements of highly automated driving (L4) and cannot guarantee the complete assisted driving function experience after any component fails, so the reliability is not high.

[0004] Therefore, how to improve the reliability of the vehicle's control system is an issue that needs to be addressed urgently. Summary of the invention

[0005] The vehicle control system and control method provided by the embodiment of the present application can improve the reliability of the vehicle control system. The vehicle control system and control method provided by the embodiment of the present application are implemented as follows:

[0006] The control system of a vehicle provided in an embodiment of the present application includes at least three driving control units, at least three power distribution control units and at least three power supply units, wherein:

[0007] Each of the driving control units is connected to at least some of the at least three power supply units through one of the power distribution control units, and the at least three driving control units form a ring architecture. The at least three driving control units are used to control the other driving control units except the failed driving control unit to establish a connection when any one or more of the driving control units fails, and any two of the driving control units communicate with each other, and each of the driving control units is connected to a target sensor of the vehicle, and the target sensor is a sensor for assisting driving;

[0008] A target driving control unit is used to control the driving of the vehicle according to the detection data sent by the target sensor when powered by a target power supply unit. The target driving control unit is at least one of the at least three driving control units that has not failed, and the target power supply unit is a power supply unit connected to a power distribution control unit corresponding to the target driving control unit.

[0009] In some embodiments, the number of the at least three driving control units, the at least three power distribution control units and the at least three power supply units are the same, and each of the driving control units is connected to two power supply units via one power distribution control unit.

[0010] In some embodiments, any two of the driving control units communicate via a wireless link, or,

[0011] Any two of the driving control units communicate via a switch, or,

[0012] Any two of the driving control units communicate via a wired link.

[0013] In some embodiments, the target power distribution control unit includes a first fuse unit, a second fuse unit and a controller, the target power distribution control unit is connected to the first power supply unit, and the target power distribution control unit is connected to the second power supply unit, the first power supply unit and the first fuse unit constitute a first subcircuit, the second power supply unit and the second fuse unit constitute a second subcircuit, and the first subcircuit and the second subcircuit are connected in parallel;

[0014] The controller is used for controlling the connection between the target power distribution control unit and the first power supply unit to be disconnected through the first fuse unit in case of a failure of the first power supply unit, so as to isolate the first power supply unit;

[0015] The controller is used for controlling the connection between the target power distribution control unit and the second power supply unit to be disconnected through the second fuse unit in case of a fault in the second power supply unit, so as to isolate the second power supply unit;

[0016] Wherein, the target power distribution control unit is any one of the at least three power distribution control units.

[0017] In some embodiments, the target power distribution control unit further includes a third fuse unit, the first power supply unit, the first fuse unit and the third fuse unit constitute a third sub-circuit, the second power supply unit, the second fuse unit and the third fuse unit constitute a fourth sub-circuit, and the third sub-circuit and the fourth sub-circuit are connected in parallel;

[0018] The controller is used for controlling the connection between the target power distribution control unit and the driving control unit connected to the target power distribution control unit to be disconnected through the third fuse unit when a driving control unit connected to the target power distribution control unit fails.

[0019] In some embodiments, each of the driving control units includes a chip SOC and a microcontroller unit MCU, and the MCUs in any two of the driving control units are connected to each other;

[0020] Each of the MCUs is used to monitor the current state of the corresponding SOC and send the current state of the corresponding SOC to other MCUs, where the current state includes a normal state or a fault state;

[0021] Each of the SOCs is used to calculate target control data based on at least part of the detection data, and send the target control data to the vehicle through the corresponding MCU to control the driving of the vehicle.

[0022] In some embodiments, the target driving control unit is a driving control unit whose current state of the corresponding SOC is the normal state. When the target driving control unit includes a first target driving control unit and a second target driving control unit, the SOC of the first target driving control unit is also used to receive the detection data from the target sensor and send part of the detection data to the SOC of the second target driving control unit.

[0023] In some embodiments, at least three computing power models are stored in each of the SOCs, and different computing power models provide different computing power resources. Each of the SOCs calculates the detection data by calling the target computing power model to obtain the target control data. The computing power resources provided by the target computing power model are determined based on the number of SOCs in the normal state.

[0024] In some embodiments, the SOC includes a non-volatile memory, and the non-volatile memory is used to store the at least three computing power models.

[0025] The vehicle control method provided in the embodiment of the present application is applied to the control system of the vehicle described in any of the above embodiments, the control system includes at least three driving control units, at least three power distribution control units and at least three power supply units, each of the driving control units is connected to at least some of the at least three power supply units through one of the power distribution control units, the at least three driving control units form a ring architecture, the at least three driving control units are used to control the other driving control units except the failed driving control unit to establish a connection when any one or more of the driving control units fails, any two of the driving control units communicate with each other, and each of the driving control units is connected to the target sensor of the vehicle, the target sensor is a sensor for assisting driving, the method includes:

[0026] In the event that any one or more driving control units among the at least three driving control units fail, controlling the other driving control units among the at least three driving control units except the driving control unit that failed to fail to fail to establish a connection, and determining the other driving control units except the driving control unit that failed to fail ...

[0027] receiving detection data sent by the target sensor when a target driving control unit is powered by a target power supply unit, the target driving control unit being at least one of the at least three driving control units that has not failed, and the target power supply unit being a power supply unit connected to a power distribution control unit corresponding to the target driving control unit;

[0028] The target driving control unit controls the vehicle driving according to the detection data.

[0029] In some embodiments, the target power distribution control unit includes a first fuse unit, a second fuse unit and a controller, the target power distribution control unit is connected to a first power supply unit, and the target power distribution control unit is connected to the second power supply unit, the first power supply unit and the first fuse unit constitute a first subcircuit, the second power supply unit and the second fuse unit constitute a second subcircuit, the first subcircuit and the second subcircuit are connected in parallel, and the method includes:

[0030] In the event of a failure of the first power supply unit, the controller controls the connection between the target power distribution control unit and the first power supply unit to be disconnected through the first fuse unit to isolate the first power supply unit;

[0031] In the event of a failure of the second power supply unit, the controller controls the connection between the target power distribution control unit and the second power supply unit to be disconnected through the second fuse unit to isolate the second power supply unit;

[0032] Wherein, the target power distribution control unit is any one of the at least three power distribution control units.

[0033] In some embodiments, the target power distribution control unit further includes a third fuse unit, the first power supply unit, the first fuse unit and the third fuse unit constitute a third sub-circuit, the second power supply unit, the second fuse unit and the third fuse unit constitute a fourth sub-circuit, the third sub-circuit and the fourth sub-circuit are connected in parallel, and the method includes:

[0034] When a driving control unit connected to the target power distribution control unit fails, the controller controls the target power distribution control unit to disconnect the driving control unit connected to the target power distribution control unit through the third fuse unit.

[0035] The computer device provided in the embodiment of the present application includes a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the program, the method described in the embodiment of the present application is implemented.

[0036] The computer-readable storage medium provided in the embodiment of the present application stores a computer program thereon, and when the computer program is executed by a processor, the method provided in the embodiment of the present application is implemented.

[0037] The computer program product provided in the embodiments of the present application includes a computer program, and when the computer program is executed by a processor, the method provided in the embodiments of the present application is implemented.

[0038] In the control system and control method of the vehicle provided in the embodiment of the present application, the control system of the vehicle includes at least three driving control units, at least three power distribution control units and at least three power supply units, wherein: each driving control unit is connected to at least part of the at least three power supply units through a power distribution control unit, at least three driving control units form a ring structure, at least three driving control units are used to control the other driving control units except the failed driving control unit to establish a connection when any one or more driving control units fail, any two driving control units communicate with each other, and each driving control unit is connected to the target sensor of the vehicle, the target sensor is a sensor for assisting driving; the target driving control unit is used to control the vehicle driving according to the detection data sent by the target sensor when the target power supply unit is powered. In the control system of the vehicle, by setting at least three driving control units, power distribution control units and power supply units, the system has a multiple redundant design. When a driving control unit, power distribution control unit or power supply unit fails, other units can continue to work to ensure the continuous operation of the vehicle control system, avoid system failure due to single point failure, and improve the reliability of the vehicle control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and are used together with the specification to illustrate the technical solution of the present application.

[0040] Figure 1 A schematic diagram of the architecture of a mainstream vehicle control system provided in an embodiment of the present application;

[0041] Figure 2 A schematic diagram of the structure of a control system of a first vehicle provided in an embodiment of the present application;

[0042] Figure 3 A schematic diagram of the structure of a control system of a second vehicle provided in an embodiment of the present application;

[0043] Figure 4 A schematic diagram of the structure of a control system of a third vehicle provided in an embodiment of the present application;

[0044] Figure 5 A schematic diagram of the structure of a control system of a fourth vehicle provided in an embodiment of the present application;

[0045] Figure 6 A schematic diagram of the structure of a control system of a fifth vehicle provided in an embodiment of the present application;

[0046] Figure 7 A schematic diagram of the connection structure between three driving control units provided in an embodiment of the present application;

[0047] Figure 8 A schematic diagram of the connection structure between two driving control units provided in an embodiment of the present application;

[0048] Fig. 9 A schematic diagram of the structure of a single driving control unit provided in an embodiment of the present application;

[0049] Fig.10 A schematic diagram of the storage structure of the model provided in the embodiment of the present application;

[0050] Fig.11 A schematic diagram of an implementation flow of a vehicle control method provided by an embodiment of the present application;

[0051] Fig.12 A flowchart of a vehicle control method provided in accordance with another embodiment of the present application. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the specific technical solution of the present application will be further described in detail below in conjunction with the drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application, but are not used to limit the scope of the present application.

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0054] In the following description, reference is made to “some embodiments”, which describe a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0055] It should be pointed out that the terms "first\second\third" involved in the embodiments of the present application are used to distinguish similar or different objects, and do not represent a specific ordering of the objects. It can be understood that "first\second\third" can be interchanged in a specific order or sequence where permitted, so that the embodiments of the present application described here can be implemented in an order other than that illustrated or described here.

[0056] In the current related technologies, vehicles are usually equipped with control systems that can assist driving. The current mainstream control systems generally include a main ECU and a backup ECU, and the overall availability safety level reaches the highest safety level, such as ASILD. Among them, the main ECU is connected to all sensors related to vehicle assisted driving to implement full-function assisted driving. In the main ECU, two Automotive Safety Integrity Level B (ASILB) system-on-chips (System on Chip, SOC) are generally set to verify each other to ensure that the output integrity ASIL level of the main ECU reaches ASIL D to avoid unexpected output of control signals by the main ECU. The backup ECU is generally not connected to all sensors, but only to a group of sensors that can maintain limited assisted driving functions. When the main ECU is operating normally, the backup ECU does not output control signals; when a verification error occurs in the main ECU, the main ECU output stops and switches to the backup ECU for backup output. At the same time, the main ECU and the backup ECU generally have two independent power supplies.

[0057] For example, the architecture diagram of the control system of the above mainstream vehicle is as follows: Figure 1 As shown, the control system includes a main ECU and a backup ECU. The main ECU includes chip 1 SOC_1 (ASILB) and chip 2 SOC_2 (ASILB). Chip 1 SOC_1 (ASILB) and chip 2 SOC_2 (ASILB) are mutually verified, and the output data can reach level ASILD. The main ECU is connected to sensor group 1 and sensor group 2. Sensor group 1 is all sensors related to assisted driving, and sensor group 2 is a group of sensors that can maintain limited assisted driving functions. The main ECU is powered by power supply 1, and the data finally output by the main ECU is sent to the main chassis / power controller to control the vehicle driving; the backup ECU includes chip 3 SOC_3 (ASILB), the backup ECU is connected to sensor group 2, the backup ECU is powered by power supply 2, and the data finally output by the backup ECU is sent to the backup chassis / power controller to control the vehicle driving; wherein, chip 1 SOC_1 (ASILB) and chip 2 SOC_2 (ASILB) can communicate with chip 3 SOC_3 (ASILB).

[0058] However, in the control systems of the above-mentioned mainstream vehicles, when the main ECU fails, the backup ECU can only have limited computing power and sensor input, which cannot meet the conditions of highly automated driving (L4). The ability to guarantee the complete assisted driving function experience after any component fails is not reliable. If the SOC is increased in the backup ECU to improve computing power, it will bring a large cost increase. At the same time, since the main ECU and the backup ECU have two independent power supplies, if any power supply fails, one ECU will lose its ability to work. For example, if the power supply on the main ECU side is lost, the ability to experience the complete assisted driving function will also be lost. When the complete assisted driving function is lost, the vehicle can only brake in the lane or park nearby, and cannot continue to comfortably take people to the destination, and the user experience is reduced.

[0059] Therefore, how to improve the reliability of the vehicle's control system is an issue that needs to be addressed urgently.

[0060] In view of this, an embodiment of the present application provides a control system of a vehicle, the control system of the vehicle includes at least three driving control units, at least three power distribution control units and at least three power supply units, wherein: each driving control unit is connected to at least part of the at least three power supply units through a power distribution control unit, at least three driving control units form a ring architecture, at least three driving control units are used to control other driving control units except the failed driving control unit to establish a connection when any one or more driving control units fail, any two driving control units communicate with each other, and each driving control unit is connected to a target sensor of the vehicle, the target sensor is a sensor for assisting driving; the target driving control unit is used to control the driving of the vehicle according to the detection data sent by the target sensor when the target power supply unit is powered. In the control system of the vehicle, by setting at least three driving control units, power distribution control units and power supply units, the system has a multiple redundant design. When a driving control unit, power distribution control unit or power supply unit fails, other units can continue to work to ensure the continuous operation of the vehicle control system, avoid system failure due to single point failure, and improve the reliability of the vehicle control system.

[0061] In order to make the purpose and technical solution of this application clearer and more intuitive, the control system and control method of the vehicle provided by the embodiment of this application will be described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain this application and are not used to limit this application.

[0062] Figure 2 This is a schematic diagram of the structure of the first vehicle control system provided in the embodiment of the present application. Figure 2The control system of the vehicle includes a driving control unit 101A, a driving control unit 101B to a driving control unit 101N, a power distribution control unit 201A, a power distribution control unit 201B to a power distribution control unit 201M, and a power supply unit 301A, a power supply unit 301B to a power supply unit 301P.

[0063] Among them, N represents the number of driving control units, M represents the number of power distribution control units, and P represents the number of power supply units. The number of driving control units, power distribution control units, and power supply units are all at least three, and the total number of each can be the same or different, and this application does not limit this. Each driving control unit is connected to at least some of the at least three power supply units through a power distribution control unit. At least three driving control units form a ring architecture. The at least three driving control units are used to control the other driving control units except the failed driving control unit to establish a connection when any one or more driving control units fail. Any two driving control units communicate with each other, and each driving control unit is connected to the vehicle's target sensor, which is a sensor used to assist driving. For example Figure 2 As shown in the figure, the driving control unit 101A is connected to the power supply unit 301A and the power supply unit 301B through the power distribution control unit 201A, and the driving control unit 101B is connected to the power supply unit 301A and the power supply unit 301P through the power distribution control unit 201B; the driving control unit 101A, the driving control unit 101B to the driving control unit 101N form a ring architecture.

[0064] In some embodiments, if the driving control unit 101A fails, connections are established between the remaining driving control units 101B to 101N, and any two driving control units communicate with each other.

[0065] It should be noted that Figure 2 The connection method shown in is only an example, and the various units may also be connected in other ways, which is not limited in this application.

[0066] Optionally, any one of the driving control units 101A, 101B to 101N may also be referred to as an advanced driver assistance system (ADAS) ECU, any one of the power distribution control units 201A, 201B to 201M may also be referred to as a power distribution ECU, and any one of the power supply units 301A, 301B to 301P may be a battery management system or an integrated power supply, etc.

[0067] In some embodiments, a target driving control unit is used to control vehicle driving according to detection data sent by a target sensor when powered by a target power supply unit. The target driving control unit is at least one of at least three driving control units, i.e., at least one of the driving control unit 101A, driving control unit 101B to driving control unit 101N. The target power supply unit is a power supply unit connected to a power distribution control unit corresponding to the target driving control unit.

[0068] In a possible implementation, the target sensor includes sensors for assisting driving, such as cameras, radars, and laser radars. Each of the driving control units 101A, 101B, and 101N is connected to these sensors, and receives the detection data of the vehicle sent by the target sensor, generates corresponding vehicle control instructions according to the detection data, and then controls the driving of the vehicle. Each of the power distribution control units 201A, 201B, and 201M is responsible for managing the power distribution of the power supply unit and supplying power to the corresponding driving control unit. For example, the power distribution control unit 201A can only supply power to a corresponding driving control unit 101A, or it can supply power to multiple driving control units such as the driving control unit 101B and the driving control unit 101N, which is not limited in this application. Each of the power supply units 301A, 301B, and 301P provides power support for the corresponding driving control unit and the power distribution control unit. A power supply unit can be connected to one or more power distribution control units, which is not limited in this application.

[0069] In some embodiments, any two driving control units among the driving control units 101A, 101B to 101N can communicate with each other by wired or wireless means to share target sensor data and control status. Each driving control unit is connected to at least some of the at least three power supply units through a power distribution control unit. This connection method can ensure that each driving control unit can obtain power from multiple power supply units through at least one power distribution control unit.

[0070] In some embodiments, taking the vehicle control system including driving control unit 101A, driving control unit 101B, driving control unit 101C, power distribution control unit 201A, power distribution control unit 201B, power distribution control unit 201C, power supply unit 301A, power supply unit 301B and power supply unit 301C as an example, if driving control unit 101A fails, the system can automatically connect driving control unit 101B and driving control unit 101C, redeploy them, and use driving control unit 101B and driving control unit 101C as target driving control units, and obtain power from the connected power supply units through the corresponding power distribution control unit 201B and power distribution control unit 201C, and continue to control the vehicle driving according to sensor data. If the power distribution control unit 201A fails, the corresponding driving control unit 101A can obtain power from the power supply unit 301A or the power supply unit 301B through the power distribution control unit 201B; if the power distribution control unit 201B fails, the corresponding driving control unit 101B can obtain power from the power supply unit 301A or the power supply unit 301B through the power distribution control unit 201A, and this application does not limit this. If the power supply unit 301A fails, the corresponding driving control unit 101A can obtain power from the power supply unit 301B through the power distribution control unit 201A, and the corresponding driving control unit 101B can obtain power from the power supply unit 301C through the power distribution control unit 201B.

[0071] In this embodiment, the control system of the vehicle includes at least three driving control units, at least three power distribution control units and at least three power supply units, wherein each driving control unit is connected to at least some of the at least three power supply units through a power distribution control unit, and the at least three driving control units form a ring architecture. The at least three driving control units are used to control other driving control units except the failed driving control units to establish connections when any one or more driving control units fail, and any two driving control units communicate with each other, and each driving control unit is connected to a target sensor of the vehicle, which is a sensor for assisting driving; the target driving control unit is used to control the vehicle driving according to the detection data sent by the target sensor when powered by the target power supply unit. In the control system of the vehicle, at least three driving control units, power distribution control units and power supply units are arranged, so that the system has a multiple redundancy design; when a driving control unit, power distribution control unit or power supply unit fails, other units can continue to work, ensuring the continuous operation of the vehicle control system, avoiding system failure due to single point failure, and improving the reliability of the vehicle control system; each driving control unit is connected to multiple power supply units through an independent power distribution control unit, ensuring that even if a power supply unit fails, other power supply units can still provide power support for the driving control unit, avoiding loss of system function due to power supply failure; any two driving control units communicate with each other and can share sensor data and control information, thereby improving the system's coordination ability, overall control ability and fault tolerance; each driving control unit is connected to the target sensor, and can obtain the detection data required for assisted driving in real time, ensuring that the sensor data can be shared and used by multiple driving control units, improving the accuracy and intelligence level of driving decisions; at the same time, the target driving control unit can be dynamically selected according to the power supply situation, ensuring that when a power supply unit or driving control unit fails, the system can still work normally through other units, enhancing the adaptability and robustness of the system.

[0072] In a possible implementation manner, the number of the at least three driving control units, the at least three power distribution control units, and the at least three power supply units is the same, and each driving control unit is connected to two power supply units via a power distribution control unit.

[0073] As an example, the vehicle control system includes three driving control units, three power distribution control units and three power supply units. It is assumed that the three driving control units include driving control unit 101A, driving control unit 101B and driving control unit 101C; the three power distribution control units include power distribution control unit 201A, power distribution control unit 201B and power distribution control unit 201C; and the three power supply units include power supply unit 301A, power supply unit 301B and power supply unit 301C. Figure 3, is a structural schematic diagram of a control system of a second vehicle provided in an embodiment of the present application, in which a driving control unit 101A is connected to a power supply unit 301A and a power supply unit 301B through a power distribution control unit 201A; a driving control unit 101B is connected to a power supply unit 301A and a power supply unit 301C through a power distribution control unit 201B; and a driving control unit 101C is connected to a power supply unit 301B and a power supply unit 301C through a power distribution control unit 201C.

[0074] Among them, each power distribution control unit serves as a primary power distribution, distributing power to a corresponding driving control unit; the driving control unit 101A, the driving control unit 101B and the driving control unit 101C communicate with each other through high-speed digital communication and interactively calculate data to achieve functions such as redundant backup, data monitoring and verification, and computing power expansion; each driving control unit is connected to all sensors and can independently complete all functions of assisted driving.

[0075] In a possible implementation manner, any two driving control units communicate via a wireless link, or any two driving control units communicate via a switch, or any two driving control units communicate via a wired link.

[0076] In some embodiments, wireless link communication is such as wireless fidelity (Wi-Fi), Bluetooth, 5th Generation Mobile Communication Technology (5G), etc. Each driving control unit is equipped with a wireless communication module, such as a Wi-Fi module or a 5G module; using wireless communication, no physical connection is required, which is convenient for system layout and expansion, and is not affected by cable breakage or connector loosening. It is suitable for complex or mobile environments, and reduces wiring complexity, installation and maintenance costs. When using switch communication, each driving control unit is equipped with an Ethernet interface, and then a central switch is set to connect all driving control units to implement the Ethernet communication protocol; Ethernet provides high bandwidth, which is suitable for transmitting large amounts of sensor data and control instructions. The switch communication has low latency and is more suitable for autonomous driving scenarios with high real-time requirements. At the same time, the switch supports redundant links and fault switching, which can improve communication reliability. When using wired link communication, wired communication has strong anti-interference ability, is suitable for complex electromagnetic environments inside vehicles, and has low latency and high real-time performance, is suitable for vehicle control scenarios, and has high communication security.

[0077] As an example, take the vehicle control system including four driving control units, four power distribution control units and four power supply units as an example, see Figure 4 , is a schematic diagram of the structure of a control system of a third vehicle provided in an embodiment of the present application, such as Figure 4As shown, it is assumed that the four driving control units include a driving control unit 101A, a driving control unit 101B, a driving control unit 101C and a driving control unit 101D, and the driving control units 101A, 101B, 101C and 101D communicate with each other through independent switches to achieve information exchange; the four power distribution control units include a power distribution control unit 201A, 201B, 201C and 201D; the four power supply units include a power supply unit 301A, 301B, 301C and 301D.

[0078] Among them, the driving control unit 101A is connected to the power supply unit 301A and the power supply unit 301B through the power distribution control unit 201A; the driving control unit 101B is connected to the power supply unit 301A and the power supply unit 301D through the power distribution control unit 201B; the driving control unit 101C is connected to the power supply unit 301C and the power supply unit 301D through the power distribution control unit 201C; the driving control unit 101D is connected to the power supply unit 301B and the power supply unit 301C through the power distribution control unit 201D. Each driving control unit is connected to all sensors and can independently complete all the functions of assisted driving.

[0079] In a possible implementation, the target power distribution control unit includes a first fuse unit (ElectricalFuse, Efuse_1), a second fuse unit (Efuse_2) and a controller (Microcontroller Unit, MCU), the target power distribution control unit is connected to the first power supply unit, and the target power distribution control unit is connected to the second power supply unit, the first power supply unit and the first fuse unit constitute a first subcircuit, the second power supply unit and the second fuse unit constitute a second subcircuit, the first subcircuit and the second subcircuit are connected in parallel, and the target power distribution control unit is any one of at least three power distribution control units.

[0080] For example, in the above Figure 3 Based on the embodiment shown, it is assumed that the target power distribution control unit is the power distribution control unit 201A. Figure 5 , is a schematic diagram of the structure of a control system of a fourth vehicle provided in an embodiment of the present application, such as Figure 5As shown, the power distribution control unit 201A includes a first fuse unit 2011, a second fuse unit 2012 and a controller 2013. The power distribution control unit 201A is connected to the power supply unit 301A, and the power distribution control unit 201A is connected to the power supply unit 301B. The power supply unit 301A and the first fuse unit 2011 constitute a first sub-circuit, and the power supply unit 301B and the second fuse unit 2012 constitute a second sub-circuit. The first sub-circuit and the second sub-circuit are connected in parallel.

[0081] Among them, the controller 2013 is used to control the connection between the distribution control unit 201A and the power supply unit 301A to be disconnected through the first fuse unit 2011 in case of a fault in the power supply unit 301A, so as to isolate the power supply unit 301A; the controller 2013 is also used to control the connection between the distribution control unit 201A and the power supply unit 301B to be disconnected through the second fuse unit 2012 in case of a fault in the power supply unit 301B, so as to isolate the power supply unit 301B.

[0082] In other words, the power supply unit 301A and the power supply unit 301B are input to the power distribution control unit 201A in parallel, and the main power supply protection is formed by the first fuse unit 2011 and the second fuse unit 2012, and the overcurrent detection direction points to the power input direction of each power supply unit; when a short circuit occurs in the power supply unit 301A, the first fuse unit 2011 completes the overcurrent shutdown and isolates the power supply unit 301A; when a short circuit occurs in the power supply unit 301B, the second fuse unit 2012 completes the same shutdown action. In the ring network structure, any short circuit fault of the power supply unit can be shut down and isolated by the main circuit fuse unit, and the three driving control units can all work normally.

[0083] In a possible implementation, the target power distribution control unit also includes a third fuse unit, the first power supply unit, the first fuse unit and the third fuse unit constitute a third sub-circuit, the second power supply unit, the second fuse unit and the third fuse unit constitute a fourth sub-circuit, and the third sub-circuit and the fourth sub-circuit are connected in parallel.

[0084] For example, in the above Figure 5 Based on the embodiment shown, it is assumed that the target power distribution control unit is the power distribution control unit 201A. Figure 6 , is a schematic diagram of the structure of a control system of a fifth vehicle provided in an embodiment of the present application, such as Figure 6As shown, the power distribution control unit 201A includes a first fuse unit 2011, a second fuse unit 2012, a third fuse unit 2014 and a controller 2013. The power distribution control unit 201A is connected to the power supply unit 301A, and the power distribution control unit 201A is connected to the power supply unit 301B. The power supply unit 301A, the first fuse unit 2011 and the third fuse unit 2014 constitute a third sub-circuit, the power supply unit 301B, the second fuse unit 2012 and the third fuse unit 2014 constitute a fourth sub-circuit, and the third sub-circuit and the fourth sub-circuit are connected in parallel.

[0085] The controller 2013 is used to control the connection between the power distribution control unit 201A and the driving control unit 101A to be disconnected through the third fuse unit 2014 when a failure occurs in the driving control unit 101A connected to the power distribution control unit 201A.

[0086] In other words, the power supply unit 301A and the power supply unit 301B are input into the power distribution control unit 201A in parallel, and the main power supply protection is formed by the first fuse unit 2011 and the second fuse unit 2012, and the overcurrent detection direction is directed to the power input direction of each power supply unit; the third fuse unit 2014 protects the branch power supply line of the driving control unit 101A, and the overcurrent detection direction is directed to the load of the driving control unit 101A. When a short circuit occurs downstream, the third fuse unit 2014 completes the overcurrent shutdown.

[0087] It should be noted that the above Figure 5 and Figure 6 In the described embodiment, the target power distribution control unit is taken as the power distribution control unit 201A for example. Accordingly, the power distribution control unit 201B and the power distribution control unit 201C adopt the same logic as the power distribution control unit 201A to isolate the power supply unit fault and protect the load fault.

[0088] In this embodiment, the vehicle's control system is equipped with a power distribution control unit for power supply management. The power distribution control unit has a back-to-back protection circuit inside. In the event of a power supply unit failure (such as a short circuit), the fault isolation of adjacent power supply units is ensured to avoid related failures.

[0089] In a possible implementation manner, each driving control unit includes a chip SOC and a micro control unit MCU, and the MCUs in any two driving control units are connected to each other.

[0090] Each MCU is used to monitor the current state of the corresponding SOC and send the current state of the corresponding SOC to other MCUs, and the current state includes a normal state or a fault state. Each SOC is used to calculate at least part of the detection data to obtain target control data, and send the target control data to the vehicle through the corresponding MCU to control the driving of the vehicle.

[0091] In some embodiments, the target driving control unit is a driving control unit whose current state of the corresponding SOC is a normal state. When the target driving control unit includes a first target driving control unit and a second target driving control unit, the SOC of the first target driving control unit is also used to receive detection data from the target sensor and send part of the detection data to the SOC of the second target driving control unit.

[0092] As an example, the vehicle control system still includes three driving control units. Please refer to Figure 7 , is a schematic diagram of the connection structure between the three driving control units provided in the embodiment of the present application, such as Figure 7 As shown, it is assumed that the three driving control units include a driving control unit 101A, a driving control unit 101B and a driving control unit 101C, the driving control unit 101A includes SOC1 and MCU1, the driving control unit 101B includes SOC2 and MCU2, and the driving control unit 101C includes SOC3 and MCU3, wherein SOC1, SOC2 and SOC3 are connected in sequence, MCU1, MCU2 and MCU3 are connected to each other, MCU1 is used to monitor the current state of the corresponding SOC1, and send the corresponding current state of SOC1 to MCU2 and MCU3; MCU2 is used to monitor the current state of the corresponding SOC2, and send the corresponding current state of SOC2 to MCU1 and MCU3; MCU3 is used to monitor the current state of the corresponding SOC3, and send the corresponding current state of SOC3 to MCU1 and MCU2.

[0093] In some embodiments, the detection data collected by the target sensor is input into the SOC1 of the driving control unit 101A, and after passing through the SOC2 of the driving control unit 101B and the SOC3 of the driving control unit 101C, it is output to the MCU3 module of the driving control unit 101C, and finally sent to the chassis and power actuator through the bus to control the vehicle driving.

[0094] It is understandable that MCU usually has a better safety level. The health status of SOC is monitored in real time by MCU. The health status includes normal state or fault state. The fault state may include hardware fault and software fault, etc. The MCUs of the three driving control units communicate with each other and can provide real-time feedback on the health status of SOC.

[0095] In a possible implementation, each SOC stores at least three computing power models, and different computing power models provide different computing power resources. Each SOC calculates the detection data by calling the target computing power model to obtain the target control data. The computing power resources provided by the target computing power model are determined according to the number of SOCs in a normal state. Figure 7 In the embodiment shown, the three SOCs are all in normal state, the target computing power model is the triple computing power model, and the driving control unit is also in the triple computing power mode. That is to say, when the SOC obtains the detection data, the triple computing power model will be called, that is, the three SOCs will be used to calculate the detection data to obtain the target control data. The target control data obtained by the triple computing power model has a higher accuracy.

[0096] In some embodiments, when one of the SOCs fails in the triple computing power mode, the MCU corresponding to the SOC sends a signal to the MCUs of the other two driving control units, requesting functional downgrade. When downgrading, the two healthy driving control units redeploy the model and continue to calculate in a pipeline manner with a double computing power model (two SOCs). The driving control unit is also in the double computing power mode, and the MCU continues to monitor the corresponding SOC status in real time and communicate.

[0097] For example, in the above Figure 7 Based on the embodiment shown, assuming that the SOC3 in the driving control unit 101C fails, the driving control unit 101A and the driving control unit 101B redeploy the model, please refer to Figure 8 , is a schematic diagram of the connection structure between two driving control units provided in an embodiment of the present application, such as Figure 8 As shown, the two driving control units include a driving control unit 101A and a driving control unit 101B, the driving control unit 101A includes SOC1 and MCU1, the driving control unit 101B includes SOC2 and MCU2, wherein SOC1 and SOC2 are connected, MCU1 and MCU2 are connected, MCU1 is used to monitor the current state of the corresponding SOC1 and send the corresponding current state of SOC1 to MCU2; MCU2 is used to monitor the current state of the corresponding SOC2 and send the corresponding current state of SOC2 to MCU1.

[0098] In some embodiments, the detection data collected by the target sensor is input into the SOC1 of the driving control unit 101A, and after passing through the SOC2 of the driving control unit 101B, it is output to the MCU2 module of the driving control unit 101B, and finally sent to the chassis and power actuator through the bus to control the vehicle driving.

[0099] In some embodiments, when a SOC fails again in the double computing power mode, it continues to downgrade to a driving control unit to work. At this time, the single computing power model is redeployed to perform calculations with the single computing power model. The driving control unit is also in the single computing power mode. At the same time, the MCU continues to monitor the corresponding SOC status in real time and communicate.

[0100] For example, in the above Figure 8 Based on the embodiment shown, assuming that the SOC2 in the driving control unit 101B fails, the driving control unit 101A redeploys the model, please refer to Fig. 9 , is a schematic diagram of the structure of a single driving control unit provided in an embodiment of the present application, such as Fig. 9 As shown, the driving control unit 101A includes SOC1 and MCU1, and MCU1 is used to monitor the current state of the corresponding SOC1.

[0101] In some embodiments, the detection data collected by the target sensor is input into the SOC1 of the driving control unit 101A, output to the MCU1 module of the driving control unit 101A, and finally sent to the chassis and power actuator through the bus to control the vehicle driving.

[0102] In a possible implementation, the SOC includes a non-volatile memory, and the non-volatile memory is used to store at least three computing power models. For example, assuming that the non-volatile memory included in the SOC is a universal flash storage (Universal Flash Storage, UFS), the models of different computing powers are stored in the non-volatile storage UFS space of each SOC, and are called according to the degradation strategy.

[0103] In some embodiments, the SOC also includes volatile storage, such as random access memory (RAM), and the switching of the model of the vehicle control system when the vehicle fails to degrade is completed by data interaction between the volatile storage (such as RAM) and the non-volatile storage (such as UFS). For example, please refer to Fig.10 , is a schematic diagram of the storage structure of the model provided in the embodiment of the present application, such as Fig.10As shown, SOC includes RAM and UFS. UFS stores triple computing power model, double computing power model and single computing power model. For a single SOC, when the driving control unit is in triple computing power mode, the computing power of a single SOC is the computing power corresponding to triple computing power model * 1 / 3; when the driving control unit is in double computing power mode, the computing power of a single SOC is the computing power corresponding to double computing power model * 1 / 2; when the driving control unit is in single computing power mode, the computing power of a single SOC is the computing power corresponding to single computing power model. When the vehicle control system is fault-degraded, the model switching is completed by data interaction between RAM and UFS, that is, calling different computing power models.

[0104] In the control system of the vehicle, at least three driving control units, power distribution control units and power supply units are arranged, so that the system has a multiple redundancy design; when a driving control unit, power distribution control unit or power supply unit fails, other units can continue to work, ensuring the continuous operation of the vehicle control system, avoiding system failure due to single point failure, and improving the reliability of the vehicle control system; each driving control unit is connected to multiple power supply units through an independent power distribution control unit, ensuring that even if a power supply unit fails, other power supply units can still provide power support for the driving control unit, avoiding loss of system function due to power supply failure; any two driving control units communicate with each other and can share sensor data and control information, thereby improving the system's coordination ability, overall control ability and fault tolerance; each driving control unit is connected to the target sensor, and can obtain the detection data required for assisted driving in real time, ensuring that the sensor data can be shared and used by multiple driving control units, improving the accuracy and intelligence level of driving decisions; at the same time, the target driving control unit can be dynamically selected according to the power supply situation, ensuring that when a power supply unit or driving control unit fails, the system can still work normally through other units, enhancing the adaptability and robustness of the system.

[0105] In addition, based on the same inventive concept, an embodiment of the present application also provides a vehicle control method, which is applied to the control system of the vehicle provided in any of the above embodiments, wherein the control system includes at least three driving control units, at least three power distribution control units and at least three power supply units, each driving control unit is connected to at least some of the at least three power supply units through a power distribution control unit, any two driving control units communicate with each other, and each driving control unit is connected to a target sensor of the vehicle, which is a sensor for assisting driving, see Fig.11 The method may include the following steps 1101 to 1103:

[0106] Step 1101, when any one or more driving control units among at least three driving control units fail, control the other driving control units among the at least three driving control units except the failed driving control unit to establish a connection, and determine the other driving control units except the failed driving control unit as the target driving control unit.

[0107] In some embodiments, if any one or more driving control units among at least three driving control units fail, other driving control units that are not failed are controlled to establish connections to ensure that they can communicate and collaborate with each other, so that the failed driving control unit will not affect the operation of other normal units, thereby ensuring the redundancy and stability of the driving system.

[0108] Optionally, especially in smart cars or autonomous driving systems, it is necessary to ensure that the entire system can still maintain a certain functionality and safety once certain key control units fail.

[0109] Step 1102, when the target driving control unit is powered by a target power supply unit, receiving detection data sent by a target sensor, the target driving control unit is at least one of at least three driving control units, and the target power supply unit is a power supply unit connected to a power distribution control unit corresponding to the target driving control unit.

[0110] Optionally, the target sensor includes a camera, a radar, a lidar or other sensors for assisted driving. The target driving control unit may be the target driving control unit 101A in the above embodiment. The target power supply unit may be the power supply unit 301A or the power supply unit 301B in the above embodiment. The power distribution control unit corresponding to the target driving control unit may be the power distribution control unit 201A in the above embodiment.

[0111] Step 1103, the target driving control unit controls the vehicle driving according to the detection data.

[0112] In some embodiments, when the target driving control unit obtains the detection data, it will call the corresponding computing model to calculate the detection data to obtain target control data, and send the target control data to the chassis and power actuator through the bus to control the vehicle driving.

[0113] In this way, by setting up at least three driving control units, power distribution control units and power supply units, the system has a multiple redundant design; when a driving control unit, power distribution control unit or power supply unit fails, other units can continue to work to ensure the continuous operation of the vehicle control system, avoid system failure due to single point failure, and improve the reliability of the vehicle control system.

[0114] Based on the above examples, please refer to Fig.12 , is a flow chart of a vehicle control method provided by another embodiment of the present application, and the vehicle control method is applied to the control system of the vehicle provided by any of the above embodiments. In this embodiment, the power distribution control unit corresponding to the target driving control unit is the target power distribution control unit, and the target power distribution control unit includes a first fuse unit, a second fuse unit, a third fuse unit and a controller. The target power distribution control unit is connected to the first power supply unit, and the target power distribution control unit is connected to the second power supply unit. The first power supply unit, the first fuse unit and the third fuse unit constitute a third sub-circuit, and the second power supply unit, the second fuse unit and the third fuse unit constitute a fourth sub-circuit. The third sub-circuit and the fourth sub-circuit are connected in parallel as an example for explanation, as shown in FIG. Fig.12 As shown, the method may include the following steps 1201 to 1204:

[0115] Step 1201, receiving detection data sent by a target sensor when a target driving control unit is powered by a target power supply unit, the target driving control unit is at least one of at least three driving control units, and the target power supply unit is a power supply unit connected to a target power distribution control unit.

[0116] Step 1202: When a fault occurs in the first power supply unit, the controller controls the connection between the target power distribution control unit and the first power supply unit to be disconnected through the first fuse unit to isolate the first power supply unit.

[0117] Step 1203: When a fault occurs in the second power supply unit, the controller controls the connection between the target power distribution control unit and the second power supply unit to be disconnected through the second fuse unit to isolate the second power supply unit.

[0118] It should be noted that the target driving control unit includes SOC and MCU.

[0119] In step 1204, the SOC in the target driving control unit calculates at least part of the detection data to obtain target control data, and sends the target control data to the vehicle through the corresponding MCU to control the driving of the vehicle.

[0120] In other embodiments, in the event of a failure of the target driving control unit, the controller controls the target power distribution control unit through a third fuse unit to disconnect the connection between the target power distribution control unit and the driving control unit connected to the target power distribution control unit, and further, other driving control units in normal state other than the target driving control unit in the vehicle's control system are used for operation.

[0121] In this embodiment, in the case of a fault degradation of the driving control unit, the auxiliary driving computing power can still be maximized to ensure user experience. At the same time, the redundancy availability of the power supply unit is stronger, so that after any independent power supply unit fails, all available driving control units can still work normally without degradation. Moreover, the redundancy relationship and computing power between driving control units can be changed or expanded according to the software configuration, which improves the reliability of the vehicle control system.

[0122] It should be noted that the above-mentioned embodiments are descriptions of the vehicle control method applied to the control system of the vehicle provided in this application. The specific implementation process and technical effects of the method can refer to the description of the various embodiments of the control system of the above-mentioned vehicle, and this application will not go into details here.

[0123] In addition, the functions implemented by the method can be implemented by calling program codes through a driving control unit or other processor in the vehicle's control system. Of course, the program codes can be stored in a computer storage medium. It can be seen that the vehicle can also include a storage medium.

[0124] It should be understood that, although the steps in the above-mentioned flowcharts are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the above-mentioned flowcharts may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0125] It should be noted that in the embodiment of the present application, if the above method is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiment of the present application can be essentially or partly embodied in the form of a software product that contributes to the relevant technology. The computer software product is stored in a storage medium, including several instructions to enable an electronic device to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk. In this way, the embodiment of the present application is not limited to any specific combination of hardware and software.

[0126] An embodiment of the present application provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps in the method provided in the above embodiment are implemented.

[0127] An embodiment of the present application provides a computer program product including instructions, which, when executed on a computer, enables the computer to execute the steps of the method provided in the above method embodiment.

[0128] Those skilled in the art will understand that Figures 2 to 10 The structure shown in the figure is only a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the control system of the vehicle to which the scheme of the present application is applied. The control system of a specific vehicle may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0129] In one embodiment, the vehicle control system provided by the present application may be implemented in the form of a computer program. The computer program composed of various program modules enables a processor to execute the steps of the method of each embodiment of the present application described in this specification.

[0130] It should be noted here that the description of the above storage medium and device embodiments is similar to the description of the above method embodiments, and has similar beneficial effects as the method embodiments. For technical details not disclosed in the storage medium, storage medium and device embodiments of this application, please refer to the description of the method embodiments of this application for understanding.

[0131] It should be understood that "one embodiment" or "an embodiment" or "some embodiments" mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in one embodiment" or "in some embodiments" appearing throughout the specification may not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present application, the size of the sequence number of the above-mentioned processes does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application. The above-mentioned sequence numbers of the embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments. The above description of each embodiment tends to emphasize the differences between the various embodiments, and the same or similar aspects can be referenced to each other. For the sake of brevity, this article will not repeat them.

[0132] The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there may be three relationships. For example, object A and / or object B can represent three situations: object A exists alone, object A and object B exist at the same time, and object B exists alone.

[0133] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0134] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as: multiple modules or components can be combined, or can be integrated into another system, or some features can be ignored, or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or modules can be electrical, mechanical or other forms.

[0135] The modules described above as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules; they may be located in one place or distributed on multiple network units; some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0136] In addition, all functional modules in the embodiments of the present application may be integrated into one processing unit, or each module may be a separate unit, or two or more modules may be integrated into one unit; the above-mentioned integrated modules may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0137] A person skilled in the art can understand that all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiment; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, etc., various media that can store program codes.

[0138] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application can essentially or in other words, the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling an electronic device to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0139] The methods disclosed in several method embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments.

[0140] The features disclosed in several product embodiments provided in this application can be arbitrarily combined without conflict to obtain new product embodiments.

[0141] The features disclosed in several method or device embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments or device embodiments.

[0142] The above is only an implementation method of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle control system, characterized in that: The control system includes at least three driving control units, at least three power distribution control units and at least three power supply units, wherein: Each of the driving control units is connected to at least some of the at least three power supply units through one of the power distribution control units, and the at least three driving control units form a ring architecture. The at least three driving control units are used to control the other driving control units except the failed driving control unit to establish a connection when any one or more of the driving control units fails, and any two of the driving control units communicate with each other, and each of the driving control units is connected to a target sensor of the vehicle, and the target sensor is a sensor for assisting driving; A target driving control unit is used to control the driving of the vehicle according to the detection data sent by the target sensor when powered by a target power supply unit. The target driving control unit is at least one of the at least three driving control units that has not failed, and the target power supply unit is a power supply unit connected to a power distribution control unit corresponding to the target driving control unit.

2. The system according to claim 1, characterized in that The number of the at least three driving control units, the at least three power distribution control units and the at least three power supply units is the same, and each of the driving control units is connected to two power supply units via one power distribution control unit.

3. The system according to claim 1 or 2, characterized in that: Any two of the driving control units communicate via a wireless link, or, Any two of the driving control units communicate via a switch, or, Any two of the driving control units communicate via a wired link.

4. The system according to claim 1, characterized in that The target power distribution control unit includes a first fuse unit, a second fuse unit and a controller, the target power distribution control unit is connected to the first power supply unit, and the target power distribution control unit is connected to the second power supply unit, the first power supply unit and the first fuse unit constitute a first subcircuit, the second power supply unit and the second fuse unit constitute a second subcircuit, and the first subcircuit and the second subcircuit are connected in parallel; The controller is configured to control the connection between the target power distribution control unit and the first power supply unit to be disconnected through the first fuse unit in case of a failure of the first power supply unit, so as to isolate the first power supply unit; The controller is used for controlling the connection between the target power distribution control unit and the second power supply unit to be disconnected through the second fuse unit in case of a fault in the second power supply unit, so as to isolate the second power supply unit; Wherein, the target power distribution control unit is any one of the at least three power distribution control units.

5. The system according to claim 4, characterized in that The target power distribution control unit further includes a third fuse unit, the first power supply unit, the first fuse unit and the third fuse unit form a third sub-circuit, the second power supply unit, the second fuse unit and the third fuse unit form a fourth sub-circuit, and the third sub-circuit and the fourth sub-circuit are connected in parallel; The controller is used for controlling the connection between the target power distribution control unit and the driving control unit connected to the target power distribution control unit to be disconnected through the third fuse unit when a driving control unit connected to the target power distribution control unit fails.

6. The system according to claim 1, characterized in that Each of the driving control units includes a chip SOC and a microcontroller unit MCU, and the MCUs in any two of the driving control units are connected to each other; Each of the MCUs is used to monitor the current state of the corresponding SOC and send the current state of the corresponding SOC to other MCUs, where the current state includes a normal state or a fault state; Each of the SOCs is used to calculate target control data based on at least part of the detection data, and send the target control data to the vehicle through the corresponding MCU to control the driving of the vehicle.

7. The system according to claim 6, characterized in that The target driving control unit is a driving control unit whose current state of the corresponding SOC is the normal state. When the target driving control unit includes a first target driving control unit and a second target driving control unit, the SOC of the first target driving control unit is also used to receive the detection data from the target sensor and send part of the detection data to the SOC of the second target driving control unit.

8. The system according to claim 6 or 7, characterized in that: At least three computing power models are stored in each of the SOCs. Different computing power models provide different computing power resources. Each of the SOCs calculates the detection data by calling the target computing power model to obtain the target control data. The computing power resources provided by the target computing power model are determined based on the number of SOCs in the normal state.

9. The system according to claim 8, characterized in that The SOC includes a non-volatile memory, and the non-volatile memory is used to store the at least three computing power models.

10. A vehicle control method, characterized in that: A control system for a vehicle according to any one of claims 1 to 9, the control system comprising at least three driving control units, at least three power distribution control units and at least three power supply units, each of the driving control units being connected to at least some of the at least three power supply units via one of the power distribution control units, the at least three driving control units forming a ring architecture, the at least three driving control units being used to control other driving control units except the failed driving control unit to establish a connection when any one or more of the driving control units fails, any two of the driving control units communicating with each other, and each of the driving control units being connected to a target sensor of the vehicle, the target sensor being a sensor for assisting driving, the method comprising: In the event that any one or more driving control units among the at least three driving control units fail, controlling the other driving control units among the at least three driving control units except the driving control unit that failed to fail to fail to establish a connection, and determining the other driving control units except the driving control unit that failed to fail ... receiving detection data sent by the target sensor when the target driving control unit is powered by a target power supply unit, the target driving control unit being at least one of the at least three driving control units that has not failed, and the target power supply unit being a power supply unit connected to a power distribution control unit corresponding to the target driving control unit; The target driving control unit controls the vehicle driving according to the detection data.

11. The method according to claim 10, characterized in that The target power distribution control unit includes a first fuse unit, a second fuse unit and a controller, the target power distribution control unit is connected to a first power supply unit, and the target power distribution control unit is connected to the second power supply unit, the first power supply unit and the first fuse unit constitute a first subcircuit, the second power supply unit and the second fuse unit constitute a second subcircuit, the first subcircuit and the second subcircuit are connected in parallel, and the method includes: In the event of a failure of the first power supply unit, the controller controls the connection between the target power distribution control unit and the first power supply unit to be disconnected through the first fuse unit to isolate the first power supply unit; In the event of a failure of the second power supply unit, the controller controls the connection between the target power distribution control unit and the second power supply unit to be disconnected through the second fuse unit to isolate the second power supply unit; Wherein, the target power distribution control unit is any one of the at least three power distribution control units.

12. The method according to claim 11, characterized in that The target power distribution control unit further includes a third fuse unit, the first power supply unit, the first fuse unit and the third fuse unit form a third sub-circuit, the second power supply unit, the second fuse unit and the third fuse unit form a fourth sub-circuit, the third sub-circuit and the fourth sub-circuit are connected in parallel, and the method includes: When a driving control unit connected to the target power distribution control unit fails, the controller controls the target power distribution control unit to disconnect the driving control unit connected to the target power distribution control unit through the third fuse unit.

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