Control system and control method for a vehicle

Abstract

The embodiment of the application discloses a kind of control system and control method of vehicle. In the technical scheme of the application, the control system of 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 with at least part of the power supply unit in at least three power supply units through a power distribution control unit, at least three driving control units constitute ring architecture, any two driving control units communicate with each other, and each driving control unit is connected with the target sensor of vehicle;Target driving control unit is used to control vehicle driving according to the detection data sent by target sensor in the case of being powered by target power supply unit. In the control system of vehicle of the application, by setting at least three driving control units, power distribution control unit and power supply unit, the system has multiple redundancy design, and the reliability of the control system of vehicle can be improved.

Description

TECHNICAL FIELD

[0001] The embodiment of the present application relates to the technical field of vehicles, and relates to a control system and a control method of a vehicle. BACKGROUND

[0002] In the related art, a mainstream vehicle control system generally comprises 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). The main ECU accesses all sensors related to vehicle auxiliary driving, and implements full-function auxiliary driving. The fallback ECU generally does not access all sensors, but only accesses a group of sensors that can maintain limited auxiliary driving functions.

[0003] However, in the mainstream vehicle control system described above, when the main ECU fails, the fallback ECU can only have limited computing power and sensor input, and cannot meet the condition of high-level automatic driving (L4) that any component failure can still guarantee the experience of complete auxiliary driving functions, and the reliability is not high.

[0004] Therefore, how to improve the reliability of the vehicle control system is a problem to be solved. SUMMARY

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

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

[0007] Each driving control unit is connected to at least part of the power supply units through one power distribution control unit, 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 driving control unit that fails to establish a connection in the case that 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, and the target sensor is a sensor used for auxiliary driving;

[0008] A target driving control unit is configured to control driving of the vehicle according to 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 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.

[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 is the same, each of the driving control units being connected to two power supply units through one power distribution control unit.

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

[0011] any two of the driving control units communicate through a switch, or,

[0012] any two of the driving control units communicate through a wired link.

[0013] In some embodiments, a target power distribution control unit includes a first fuse unit, a second fuse unit and a controller, the target power distribution control unit being connected to a first power supply unit and the target power distribution control unit being connected to a second power supply unit, the first power supply unit and the first fuse unit forming a first sub-circuit, the second power supply unit and the second fuse unit forming a second sub-circuit, the first sub-circuit and the second sub-circuit being connected in parallel;

[0014] the controller is configured to, in the event of a failure of the first power supply unit, control the first fuse unit to turn off the connection between the target power distribution control unit and the first power supply unit to isolate the first power supply unit;

[0015] the controller is configured to, in the event of a failure of the second power supply unit, control the second fuse unit to turn off the connection between the target power distribution control unit and the second power supply unit 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 forming a third sub-circuit, the second power supply unit, the second fuse unit and the third fuse unit forming a fourth sub-circuit, the third sub-circuit and the fourth sub-circuit being connected in parallel;

[0018] The controller is configured to, in the case of a failure of a driving control unit connected to the target power distribution control unit, control the third fuse unit to turn off the connection between the target power distribution control unit and the driving control unit connected to the target power distribution control unit.

[0019] In some embodiments, each of the driving control units comprises a chip SOC and a micro control unit MCU, and the MCUs of any two of the driving control units are connected to each other.

[0020] Each of the MCUs is configured to monitor a current state of the corresponding SOC and send the current state of the corresponding SOC to other MCUs, the current state including a normal state or a failure state.

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

[0022] In some embodiments, the target driving control unit is a driving control unit whose corresponding SOC is in the normal state, and in the case that the target driving control unit comprises a first target driving control unit and a second target driving control unit, the SOC of the first target driving control unit is further configured 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, each of the SOCs stores at least three computing power models, different computing power models provide different computing power resources, each of the SOCs calculates the target control data from the detection data by calling a target computing power model, and the computing power resource provided by the target computing power model is determined according to the number of SOCs in the normal state.

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

[0025] The control method of the vehicle provided in the embodiments of the present application is applied to the control system of the vehicle described in any of the above embodiments, the control system comprises 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 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 a ring architecture, the at least three driving control units are used to control the connection of the driving control units other than the driving control unit that fails in the case that any one or more of the driving control units fail, any two driving control units communicate with each other, and each driving control unit is connected with a target sensor of the vehicle, the target sensor is a sensor used for assisting driving, and the method comprises:

[0026] In the case that any one or more of the at least three driving control units fail, the connection of the driving control units other than the driving control unit that fails is controlled, and the driving control units other than the driving control unit that fails are determined as target driving control units;

[0027] In the case that the target driving control unit is powered by a target power supply unit, detection data sent by the target sensor is received, the target driving control unit is at least one of the driving control units that do not fail in the at least three driving control units, and the target power supply unit is a power supply unit connected with the power distribution control unit corresponding to the target driving control unit;

[0028] The vehicle is controlled by the target driving control unit according to the detection data.

[0029] In some embodiments, a target power distribution control unit comprises a first fuse unit, a second fuse unit and a controller, the target power distribution control unit is connected with a first power supply unit, and the target power distribution control unit is connected with a second power supply unit, the first power supply unit and the first fuse unit form a first sub-circuit, the second power supply unit and the second fuse unit form a second sub-circuit, the first sub-circuit and the second sub-circuit are connected in parallel, and the method comprises:

[0030] In the case that the first power supply unit fails, the connection between the target power distribution control unit and the first power supply unit is turned off by the controller through the first fuse unit to isolate the first power supply unit;

[0031] In the case that the second power supply unit fails, the controller controls the connection between the target power distribution control unit and the second power supply unit to be turned off by the second fuse unit, so as to isolate the second power supply unit.

[0032] 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 comprises 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 comprises:

[0034] In the case that the driving control unit connected with the target power distribution control unit fails, the controller controls the connection between the target power distribution control unit and the driving control unit connected with the target power distribution control unit to be turned off by the third fuse unit.

[0035] The computer device provided by the embodiment of the present application comprises a memory and a processor, the memory stores a computer program capable of running on the processor, and the processor implements the method provided by the embodiment of the present application when executing the program.

[0036] The computer readable storage medium provided by the embodiment of the present application stores a computer program, and the computer program is executed by the processor to implement the method provided by the embodiment of the present application.

[0037] The computer program product provided by the embodiment of the present application comprises a computer program, and the computer program is executed by the processor to implement the method provided by the embodiment of the present application.

[0038] The control system and control method of the vehicle provided in the embodiments of the present application, 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, wherein: each driving control unit is connected with at least part of the power supply units through one power distribution control unit, the at least three driving control units form a ring architecture, the at least three driving control units are used to control the connection of the driving control units other than the driving control unit that fails in the case that any one or more of the driving control units fails, any two driving control units communicate with each other, and each driving control unit is connected with a target sensor of the vehicle, the target sensor is a sensor used for assisting driving; a target driving control unit is used to control driving of the vehicle according to detection data sent by the target sensor in the case of being powered by a target power supply unit. 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 multiple redundant designs. When a driving control unit, a power distribution control unit or a 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. BRIEF DESCRIPTION OF DRAWINGS

[0039] The drawings incorporated into the specification and forming part of the specification, the drawings show embodiments consistent with the present application, and together with the specification used to illustrate the technical solutions of the present application.

[0040] Figure 1 The schematic diagram of the architecture of the control system of the mainstream vehicle provided in the embodiments of the present application is shown in the figure.

[0041] Figure 2 The schematic diagram of the structure of the first control system of the vehicle provided in the embodiments of the present application is shown in the figure.

[0042] Figure 3 The schematic diagram of the structure of the second control system of the vehicle provided in the embodiments of the present application is shown in the figure.

[0043] Figure 4 The schematic diagram of the structure of the third control system of the vehicle provided in the embodiments of the present application is shown in the figure.

[0044] Figure 5 The schematic diagram of the structure of the fourth control system of the vehicle provided in the embodiments of the present application is shown in the figure.

[0045] Figure 6 The schematic diagram of the structure of the fifth control system of the vehicle provided in the embodiments of the present application is shown in the figure.

[0046] Figure 7 The schematic diagram of the connection structure between the three driving control units provided in the embodiments of the present application is shown in the figure.

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

[0048] Figure 9 Structure schematic diagram of a single driving control unit provided by an embodiment of the present application;

[0049] Figure 10 Storage structure schematic diagram of a model provided by an embodiment of the present application;

[0050] Figure 11 Implementation flow schematic diagram of a control method of a vehicle provided by an embodiment of the present application;

[0051] Figure 12 Flow schematic diagram of a control method of a vehicle provided by another embodiment of the present application. DETAILED DESCRIPTION

[0052] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will further describe the specific technical solutions of the present application with reference to the accompanying drawings in the embodiments of the present application. The following embodiments are used to describe 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 commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for describing the embodiments of the present application only and is not intended to limit the present application.

[0054] In the following description, "some embodiments" are related to a subset of all possible embodiments, but it can be understood that "some embodiments" can be the same subset or different subset of all possible embodiments, and can be combined with each other without conflict.

[0055] It should be noted that the terms "first", "second", "third" used in the embodiments of the present application are used to distinguish similar or different objects, and do not represent a specific order of the objects. It can be understood that "first", "second", "third" can be interchanged with a specific order or sequence as allowed, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0056] In current technologies, vehicles typically incorporate driver assistance control systems. These systems generally include a main ECU and a backup ECU, achieving the highest overall availability and safety level, such as ASIL D. The main ECU connects to all relevant sensors for driver assistance, implementing full-function assisted driving. Typically, the main ECU incorporates two System-on-Chips (SOCs) at Automotive Safety Integrity Level B (ASILB) for cross-verification, ensuring the main ECU's output integrity reaches ASIL D to prevent unintended control signal output. The backup ECU typically does not connect to all sensors, only a set of sensors capable of maintaining limited driver assistance functions. When the main ECU is operating normally, the backup ECU does not output control signals; if a verification error occurs within the main ECU, its output stops, and the system switches to the backup ECU for backup output. Both the main and backup ECUs generally have independent power supplies.

[0057] For example, the architecture diagram of the aforementioned mainstream vehicle control system is shown below. Figure 1 As shown, the control system includes a main ECU and a backup ECU. The main ECU includes chip 1SOC_1 (ASILB) and chip 2SOC_2 (ASILB). Chips 1SOC_1 (ASILB) and chip 2SOC_2 (ASILB) cross-validate each other, and the output data can reach the ASILD level. The main ECU is connected to sensor group 1 and sensor group 2. Sensor group 1 contains all the sensors related to driver assistance, and sensor group 2 contains a group of sensors that can maintain limited driver assistance functions. The main ECU is powered by power supply 1, and the final output data of the main ECU is sent to the main chassis / power controller to control vehicle driving. The backup ECU includes chip 3SOC_3 (ASILB), and the backup ECU is connected to sensor group 2. The backup ECU is powered by power supply 2, and the final output data of the backup ECU is sent to the backup chassis / power controller to control vehicle driving. Chips 1SOC_1 (ASILB) and chip 2SOC_2 (ASILB) can both communicate with chip 3SOC_3 (ASILB).

[0058] However, in the control system of the above mainstream vehicle, when the main ECU fails, the backup ECU can only have limited computing power and sensor input, and cannot meet the condition of high automatic driving (L4) that any component failure can still guarantee the complete auxiliary driving function experience, the reliability is not high, if the SOC is increased in the backup ECU to improve the computing power, it will bring a larger 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 working ability, for example, if the main ECU side power supply fails, the complete auxiliary driving function experience will also be lost. When the complete auxiliary driving function is lost, the vehicle can only stop in the lane or park near the roadside, 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 control system of the vehicle is a problem to be solved.

[0060] Therefore, the embodiment of the present application provides a control system of a vehicle, which comprises 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 with at least part of the power supply units through one power distribution control unit, the at least three driving control units constitute a ring architecture, the at least three driving control units are used to establish a connection between the other driving control units except the driving control unit that fails in the case that any one or more driving control units fail, any two driving control units communicate with each other, and each driving control unit is connected with a target sensor of the vehicle, the target sensor is a sensor for assisting driving; a target driving control unit is used to control driving of the vehicle according to detection data sent by the target sensor in the case of being powered by a target power supply unit. 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 redundancy design. When a driving control unit, a power distribution control unit or a power supply unit fails, the 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 control system of the vehicle.

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

[0062] Figure 2 The structure diagram of the first control system of the vehicle provided by the embodiment of the present application is shown in FIG. 1. Referring to FIG. 1, Figure 2The control system of the vehicle includes the driving control units 101A, 101B to 101N, the power distribution control units 201A, 201B to 201M, and the power supply units 301A, 301B to 301P.

[0063] Wherein, 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, which is not limited in the present application. Each driving control unit is connected to at least part of the at least three power supply units through a power distribution control unit. The at least three driving control units form a ring architecture. The at least three driving control units are used to control the connection between the other driving control units except the driving control unit that fails in the case that 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 used for assisting driving. Figure 2 As shown in FIG. 1, 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 units 101A, 101B to 101N form a ring architecture.

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

[0065] It should be noted that Figure 2 The connection mode shown in FIG. 1 is only an example, and the units can also be connected in other ways, which is not limited in the present application.

[0066] Optionally, any one of the driving control units 101A, 101B to 101N can also be called an Advanced Driver Assistance Systems (ADAS) ECU, any one of the power distribution control units 201A, 201B to 201M can also be called a power distribution ECU, and any one of the power supply units 301A, 301B to 301P can be a battery management system or an integrated power supply, etc.

[0067] In some embodiments, a target driving control unit is configured to control driving of the vehicle according to 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, i.e., at least one of the driving control unit 101A, the driving control unit 101B, and the driving control unit 101N, and the target power supply unit being a power supply unit connected to the power distribution control unit corresponding to the target driving control unit.

[0068] In a possible implementation, the target sensor includes a camera, a radar, a lidar, or other sensors for assisting driving, each of the driving control unit 101A, the driving control unit 101B, and the driving control unit 101N is connected to the sensors and receives detection data of the vehicle sent by the target sensor, generates a corresponding vehicle control instruction according to the detection data, and controls driving of the vehicle. Each of the power distribution control unit 201A, the power distribution control unit 201B, and the power distribution control unit 201M is responsible for managing power distribution of the power supply unit and powering the corresponding driving control unit. For example, the power distribution control unit 201A can power only one corresponding driving control unit 101A or multiple driving control units such as the driving control unit 101B and the driving control unit 101N, which is not limited in the present application. Each of the power supply unit 301A, the power supply unit 301B, and the power supply unit 301P provides power support for the corresponding driving control unit and the power distribution control unit. One power supply unit can be connected to one or more power distribution control units, which is not limited in the present application.

[0069] In some embodiments, any two of the driving control unit 101A, the driving control unit 101B, and the driving control unit 101N can communicate with each other through wired or wireless means to share target sensor data and control status. Each driving control unit is connected to at least part of the at least three power supply units through a power distribution control unit, which ensures 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 driving control unit 101A, the driving control unit 101B, the driving control unit 101C, the power distribution control unit 201A, the power distribution control unit 201B, the power distribution control unit 201C, the power supply unit 301A, the power supply unit 301B and the power supply unit 301C included in the control system of the vehicle as an example, if the driving control unit 101A fails, the system can automatically establish a connection between the driving control unit 101B and the driving control unit 101C, redeploy, and use the driving control unit 101B and the driving control unit 101C as the target driving control unit, and obtain power from the connected power supply unit through the corresponding power distribution control unit 201B and the power distribution control unit 201C, and continue to control the vehicle to travel according to the 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, which is not limited in the present application. 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 part of the at least three power supply units through one power distribution control unit, the at least three driving control units form a ring architecture, the at least three driving control units are used to control the connection between the driving control units other than the driving control unit that fails in the case of failure of any one or more driving control units, 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 being 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 in the case of power supply by the target power supply unit. 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 multiple redundant designs; when a driving control unit, a power distribution control unit, or a 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 functions due to power supply failure; any two driving control units communicate with each other and can share sensor data and control information, improving the coordination ability, overall control ability, and fault tolerance of the system; each driving control unit is connected to a target sensor and can obtain real-time detection data required for assisted driving, ensuring that sensor data can be shared and utilized by multiple driving control units, improving the accuracy and intelligence level of driving decision-making; at the same time, the target driving control unit can be dynamically selected according to the power supply situation, ensuring that the system can still work normally through other units when a power supply unit or a driving control unit fails, enhancing the adaptability and robustness of the system.

[0072] In a possible implementation, 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 through one power distribution control unit.

[0073] As an example, taking the control system of the vehicle including three driving control units, three power distribution control units, and three power supply units as an example, 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. Please refer to Figure 3As shown in FIG. 2, the second structural schematic diagram of the vehicle control system provided by the embodiment of the present application, the driving control unit 101A is connected with 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 with the power supply unit 301A and the power supply unit 301C through the power distribution control unit 201B; the driving control unit 101C is connected with the power supply unit 301B and the power supply unit 301C through the power distribution control unit 201C.

[0074] Each power distribution control unit allocates power to a corresponding driving control unit as a primary power distribution; the driving control unit 101A, the driving control unit 101B and the driving control unit 101C exchange operation data through high-speed digital communication to realize functions such as redundant backup, data monitoring and verification, and computing power expansion; each driving control unit is connected with all sensors and can independently complete all functions of assisted driving.

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

[0076] In some embodiments, the wireless link communication, 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, without physical connection, facilitating system layout and expansion, not affected by cable breakage or connector loosening, suitable for complex or mobile environments, and reducing wiring complexity and 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 up to connect all driving control units to realize Ethernet communication protocol; Ethernet provides high bandwidth, suitable for transmitting a large amount of sensor data and control instructions, and switch communication has low delay, more suitable for real-time automatic driving scenarios, and 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, suitable for complex electromagnetic environment inside the vehicle, and has low delay and high real-time performance, suitable for vehicle control scenarios, and has high communication security.

[0077] As an example, the vehicle control system includes four driving control units, four power distribution control units and four power supply units, as shown in FIG. 3. Figure 4 As shown in FIG. 4, the third structural schematic diagram of the vehicle control system provided by the embodiment of the present application, the driving control unit 101A is connected with 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 with the power supply unit 301A and the power supply unit 301C through the power distribution control unit 201B; the driving control unit 101C is connected with the power supply unit 301B and the power supply unit 301C through the power distribution control unit 201C. Figure 4As shown, assuming that the four driving control units include driving control unit 101A, driving control unit 101B, driving control unit 101C and driving control unit 101D, the driving control unit 101A, the driving control unit 101B, the driving control unit 101C and the driving control unit 101D communicate through independent switches to realize information interaction; the four power distribution control units include power distribution control unit 201A, power distribution control unit 201B, power distribution control unit 201C and power distribution control unit 201D; the four power supply units include power supply unit 301A, power supply unit 301B, power supply unit 301C and power supply unit 301D.

[0078] Among them, the driving control unit 101A is connected with 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 with 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 with 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 with 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 functions of assisted driving.

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

[0080] Exemplarily, on the basis of the above Figure 3 As shown in the embodiment, assuming that the target power distribution control unit is the power distribution control unit 201A, please refer to Figure 5 A fourth vehicle control system structure schematic diagram provided by the embodiment of the present application is as follows 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 with the power supply unit 301A and the power distribution control unit 201A is connected with the power supply unit 301B. The power supply unit 301A and the first fuse unit 2011 form a first sub-circuit, the power supply unit 301B and the second fuse unit 2012 form a second sub-circuit, and the first sub-circuit and the second sub-circuit are connected in parallel.

[0081] The controller 2013 is configured to, in the case of a failure of the power supply unit 301A, control the first fuse unit 2011 to shut off the connection between the power distribution control unit 201A and the power supply unit 301A, so as to isolate the power supply unit 301A. The controller 2013 is further configured to, in the case of a failure of the power supply unit 301B, control the second fuse unit 2012 to shut off the connection between the power distribution control unit 201A and 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 first fuse unit 2011 and the second fuse unit 2012 form a main power supply protection. The overcurrent detection directions are both directed to the power input direction of the respective power supply units. When the power supply unit 301A appears a short-circuit failure, the first fuse unit 2011 completes overcurrent shutdown to isolate the power supply unit 301A. When the power supply unit 301B appears a short-circuit failure, the second fuse unit 2012 completes the same shutdown action. In the ring network structure, any power supply unit short-circuit failure can be shut off and isolated by the main fuse unit, and the three driving control units can work normally.

[0083] In a possible implementation, 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.

[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. Please refer to Figure 6 A fifth structure of a vehicle control system is provided in the embodiments of the present application, as shown in 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 with the power supply unit 301A and the power distribution control unit 201A is connected with the power supply unit 301B. The power supply unit 301A, the first fuse unit 2011, and the third fuse unit 2014 form a third sub-circuit, and the power supply unit 301B, the second fuse unit 2012, and the third fuse unit 2014 form a fourth sub-circuit. The third sub-circuit and the fourth sub-circuit are connected in parallel.

[0085] The controller 2013 is configured to, in the case of a failure of the driving control unit 101A connected with the power distribution control unit 201A, control the connection between the power distribution control unit 201A and the driving control unit 101A to be turned off through the third fuse unit 2014.

[0086] 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. The first fuse unit 2011 and the second fuse unit 2012 form a main power supply protection, and the overcurrent detection directions are both directed to the power input direction of the respective power supply units. 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 turn-off.

[0087] It should be noted that the above Figure 5 and Figure 6 In the embodiments, the target power distribution control unit is taken as the power distribution control unit 201A for example. Correspondingly, the same logic as the power distribution control unit 201A is adopted in the power distribution control unit 201B and the power distribution control unit 201C to isolate the power supply unit failure and protect the load failure.

[0088] In this embodiment, the control system of the vehicle is provided with a power distribution control unit for power supply management. The power distribution control unit is internally provided with a back-to-back protection circuit. In the case of a power supply unit failure (such as a short circuit), the failure isolation of the adjacent power supply unit is ensured to avoid related failures.

[0089] In a possible implementation, 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 with each other.

[0090] Each MCU monitors the current status of its corresponding SOC and sends the current status of the SOC to other MCUs. The current status includes a normal state or a fault state. Each SOC calculates target control data from at least a portion of the detected data and sends the target control data to the vehicle through the corresponding MCU to control the vehicle's driving.

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

[0092] As an example, let's take a vehicle control system that includes three driving control units as an example. Please refer to... Figure 7 This is a schematic diagram of the connection structure between the three driving control units provided in the embodiments of this application, as shown below. Figure 7 As shown, assume three driving control units include driving control unit 101A, driving control unit 101B, and driving control unit 101C. Driving control unit 101A includes SOC1 and MCU1, driving control unit 101B includes SOC2 and MCU2, and driving control unit 101C includes SOC3 and MCU3. SOC1, SOC2, and SOC3 are connected sequentially, and MCU1, MCU2, and MCU3 are interconnected. MCU1 is used to monitor the current state of the corresponding SOC1 and send the current state of the corresponding SOC1 to MCU2 and MCU3; MCU2 is used to monitor the current state of the corresponding SOC2 and send the current state of the corresponding SOC2 to MCU1 and MCU3; MCU3 is used to monitor the current state of the corresponding SOC3 and send the current state of the corresponding SOC3 to MCU1 and MCU2.

[0093] In some embodiments, the detection data collected by the target sensor is input to 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 actuators through the bus to control the vehicle driving.

[0094] Understandably, MCUs typically offer a higher level of safety. The health status of the SOC is monitored in real time by the MCU, which includes normal or fault states. Fault states can include hardware and software malfunctions. The MCUs of the three driving control units communicate with each other, providing real-time feedback on the SOC's health status.

[0095] In a possible implementation, at least three computing power models are stored in each SOC, different computing power models provide different computing power resources, each SOC calculates the detection data by calling a target computing power model to obtain target control data, and the computing power resources provided by the target computing power model are determined according to the number of SOCs in the normal state. For example, if the three SOCs in the embodiment shown in the above Figure 7 are in the normal state, the target computing power model is a three-fold computing power model, and the driving control unit is also in the three-fold computing power mode. That is, when the SOC obtains the detection data, the three-fold computing power model is called, that is, the detection data is calculated by using three SOCs to obtain the target control data, and the target control data obtained by the three-fold computing power model has higher accuracy.

[0096] In some embodiments, when one of the SOCs in the three-fold computing power mode fails, the MCU corresponding to the SOC sends a signal to the MCUs of the other two driving control units, requesting function degradation. When degraded, the two healthy driving control units redeploy the model and continue to calculate in the two-fold computing power mode (two SOCs) in the pipeline manner, the driving control unit is in the two-fold computing power mode, and the MCU continues to monitor the state of the corresponding SOC in real time and communicates.

[0097] Exemplarily, on the basis of the embodiment shown in the above Figure 7 , it is assumed that the SOC3 in the driving control unit 101C fails, then the driving control unit 101A and the driving control unit 101B redeploy the model, please refer to Figure 8 , the connection structure diagram between the two driving control units provided by the embodiment of the present application is shown in Figure 8 , the two driving control units include the driving control unit 101A and the driving control unit 101B, the driving control unit 101A includes the SOC1 and the MCU1, and the driving control unit 101B includes the SOC2 and the MCU2, wherein the SOC1 and the SOC2 are connected, the MCU1 and the MCU2 are connected, the MCU1 is used for monitoring the current state of the corresponding SOC1 and sending the current state of the corresponding SOC1 to the MCU2; the MCU2 is used for monitoring the current state of the corresponding SOC2 and sending the current state of the corresponding SOC2 to the MCU1.

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

[0099] In some embodiments, when one SOC fails in the double computing power mode, the vehicle continues to work in the single driving control unit mode, and the single computing power model is re-deployed for calculation. The driving control unit is also in the single computing power mode, and the MCU continues to monitor the state of the corresponding SOC in real time and communicates.

[0100] For example, based on the above Figure 8 Based on the above-mentioned embodiments, it is assumed that SOC2 in driving control unit 101B fails. The driving control unit 101A re-deploys the model. Please refer to Figure 9 The structure diagram of a single driving control unit provided in the embodiments of the present application is shown in Figure 9 As shown in the figure, the driving control unit 101A includes SOC1 and MCU1. MCU1 is used to monitor the current state of the corresponding SOC1.

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

[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, it is assumed that the non-volatile memory included in the SOC is a universal flash storage (UFS), and different computing power models are stored in the non-volatile memory UFS space of each SOC, and are called according to the degradation strategy.

[0103] In some embodiments, the SOC also includes a volatile storage such as a random access memory (RAM), and the switching of the model by the control system of the vehicle in the failure degradation is completed by the data interaction between the volatile storage (such as RAM) and the non-volatile storage (such as UFS). For example, please refer to Figure 10 The storage structure diagram of the model provided in the embodiments of the present application is shown in Figure 10As shown, the SOC includes a RAM and a UFS, and the UFS stores a three-fold computing power model, a two-fold computing power model, and a single-fold computing power model. For a single SOC, when the driving control unit is in the three-fold computing power mode, the computing power of the single SOC is the corresponding computing power of the three-fold computing power model*1 / 3; when the driving control unit is in the two-fold computing power mode, the computing power of the single SOC is the corresponding computing power of the two-fold computing power model*1 / 2; and when the driving control unit is in the single-fold computing power mode, the computing power of the single SOC is the corresponding computing power of the single-fold computing power model. The switching of the model during the fault degradation of the control system of the vehicle is completed through data interaction between the RAM and the UFS, that is, different computing power models are called.

[0104] In the control system of the vehicle, at least three driving control units, power distribution control units, and power supply units are provided, and the system has a multiple redundancy design. When a driving control unit, a power distribution control unit, or a 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 functions due to power supply failure. Any two driving control units communicate with each other and can share sensor data and control information, improving the coordination ability, overall control ability, and fault tolerance of the system. Each driving control unit is connected to a target sensor and can obtain detection data required for assisted driving in real time, ensuring that sensor data can be shared and utilized 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 the system can still work normally through other units when a power supply unit or a driving control unit fails, enhancing the adaptability and robustness of the system.

[0105] In addition, based on the same inventive concept, the embodiments of the present application also provide a control method of a vehicle, which is applied to the control system of the vehicle provided 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 driving control unit is connected to at least part 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. The target sensor is a sensor for assisting driving. See Figure 11 The method can include the following steps 1101 to 1103:

[0106] Step 1101, in the case of failure of any one or more of the at least three driving control units, the other driving control units except the failed driving control unit are controlled to establish connection and are determined as target driving control units.

[0107] In some embodiments, if any one or more of the at least three driving control units fails, the other non-failed driving control units are controlled to establish connection to ensure that they can communicate and cooperate with each other, so that the failed driving control unit does not affect the operation of the other normal units, ensuring the redundancy and stability of the driving system.

[0108] Optionally, especially in intelligent vehicles or autonomous driving systems, once some key control units fail, the entire system can still maintain certain functionality and safety.

[0109] Step 1102, in the case that 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 being at least one of the at least three driving control units, 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.

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

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

[0112] In some embodiments, when the target driving control unit obtains the detection data, a corresponding computing power model is called to calculate the detection data to obtain target control data, and the target control data is sent to the chassis and the power actuator through the bus to control the driving of the vehicle.

[0113] In this way, by setting at least three driving control units, power distribution control units and power supply units, the system has multiple redundancy design; when a driving control unit, a power distribution control unit or a power supply unit fails, the 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.

[0114] On the basis of the above embodiments, please refer toFigure 12 A flowchart of a vehicle control method according to another embodiment of the present application is provided, which is applied to the vehicle control system according to any of the above embodiments. In this embodiment, the target power distribution control unit is the power distribution control unit corresponding to the target driving control unit, the target power distribution control unit includes the first fuse unit, the second fuse unit, the third fuse unit, and the controller, the target power distribution control unit is connected with the first power supply unit, and the target power distribution control unit is connected with the second power supply unit, the first power supply unit, the first fuse unit, and the third fuse unit form the third sub-circuit, the second power supply unit, the second fuse unit, and the third fuse unit form the fourth sub-circuit, and the third sub-circuit and the fourth sub-circuit are connected in parallel, as shown in Figure 12 The method can include the following steps 1201-1204.

[0115] In step 1201, detection data sent by a target sensor is received in the case that the target driving control unit is powered by a target power supply unit, the target driving control unit is at least one of the at least three driving control units, and the target power supply unit is the power supply unit connected with the target power distribution control unit.

[0116] In step 1202, the connection between the target power distribution control unit and the first power supply unit is turned off by the controller through the first fuse unit in the case that the first power supply unit fails, so as to isolate the first power supply unit.

[0117] In step 1203, the connection between the target power distribution control unit and the second power supply unit is turned off by the controller through the second fuse unit in the case that the second power supply unit fails, so as to isolate the second power supply unit.

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

[0119] In step 1204, target control data is obtained by the SOC in the target driving control unit by calculating at least part of the detection data, and the target control data is sent to the vehicle by the corresponding MCU, so as to control the driving of the vehicle.

[0120] In other embodiments, the connection between the target power distribution control unit and the driving control unit connected with the target power distribution control unit is turned off by the controller through the third fuse unit in the case that the target driving control unit fails, and further, the driving control unit in the normal state other than the target driving control unit in the vehicle control system is used for operation.

[0121] In the embodiment, in the case of fault degradation of the driving control unit, the auxiliary driving computing power can still be maximized to ensure user experience, and the power supply unit has stronger redundancy availability, so that after any failure of the independent power supply unit, the normal work of all available driving control units can still be ensured, and the operation is not degraded. The redundancy relationship and computing power between the driving control units can be changed or extended according to software configuration, thereby improving the reliability of the vehicle control system.

[0122] It should be noted that the above various embodiments are descriptions of the vehicle control method applied to the vehicle control system of the vehicle provided in the present application. The specific implementation process and technical effects of the method can be referred to the description of each embodiment of the vehicle control system, which will not be repeated here.

[0123] In addition, the functions implemented by the method can be realized by calling program codes by the driving control unit or other processors in the vehicle control system. Of course, the program codes can be stored in a computer storage medium. Therefore, the vehicle can also include a storage medium.

[0124] It should be understood that although each step in the above flowcharts is displayed in sequence according to the arrow, these steps are not necessarily executed in the order indicated by the arrow. Unless otherwise stated herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other orders. Moreover, at least part of the steps in the above flowcharts can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least part of other steps or sub-steps or stages of other steps.

[0125] It should be noted that in the embodiments of the present application, if the above-mentioned 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 this understanding, the technical solutions of the embodiments of the present application can be embodied in the form of a software product, which is stored in a storage medium and includes a plurality of instructions for causing an electronic device to execute all or part of the methods described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk, and various media that can store program codes. Therefore, the embodiments of the present application are not limited to any specific hardware and software combination.

[0126] The embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the steps in the method provided in the above embodiment.

[0127] The embodiment of the present application provides a computer program product containing instructions, which, when running on a computer, causes the computer to execute the steps in the method provided in the above method embodiment.

[0128] Those skilled in the art can understand that, Figures 2 to 10 The structure shown in the figure is only a block diagram of part of the 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 can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

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

[0130] It should be pointed out 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 to the method embodiments. For technical details not disclosed in the storage medium, storage medium and device embodiments of the present application, please refer to the description of the method embodiments of the present application.

[0131] It should be understood that the "one embodiment" or "an embodiment" or "some embodiments" mentioned throughout the specification means that the 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 an embodiment" or "in some embodiments" appearing throughout the specification does not necessarily mean 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 serial number of the above processes does not mean the execution order, and the execution order of the processes should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The serial number of the above embodiments of the present application is only for description, not representing the advantages and disadvantages of the embodiments. The above description of each embodiment tends to emphasize the differences between each embodiment, and the same or similar parts can be referred to each other. For the sake of brevity, this paper will not repeat here.

[0132] The term "and / or", merely describes an associated relationship, which means that there can be three relationships, for example, object A and / or object B, which can represent: the existence of object A alone, the existence of object A and object B, and the existence of object B alone.

[0133] It should be noted that, in this document, the terms "comprising", "including", or any other variant thereof are intended to cover a non-exclusive inclusion, such that processes, methods, articles, or devices that comprise a list of elements not only include those elements, but also include other elements not expressly listed, or also include elements inherent in such processes, methods, articles, or devices. Without more limitations, the element defined by the sentence "comprising a…" does not exclude the presence of additional identical elements in the process, method, article, or device including the element.

[0134] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The above-described embodiments are only illustrative, for example, the division of the modules is only a logical functional division, and actual implementation can have another division manner, such as: a plurality of 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 or direct coupling or communication connection between each component part shown or discussed can be through some interface, indirect coupling or communication connection between devices or modules, which can be electrical, mechanical or other forms.

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

[0136] In addition, each functional module in each embodiment of the present application can be integrated in one processing unit, or each module can be a separate unit, or two or more modules can be integrated in one unit; the above integrated modules can be realized in the form of hardware or hardware plus software functional units.

[0137] Those skilled in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by program instruction related hardware, and the foregoing program can be stored in a computer readable storage medium, and the program performs the steps of the above-mentioned method embodiments when executed; and the foregoing storage medium includes a mobile storage device, a read only memory (ROM), a magnetic disc or an optical disc and various storage medium capable of storing program codes.

[0138] Alternatively, the integrated units of the present application can be stored in a computer readable storage medium if they are realized in the form of software function modules and sold or used as independent products. Based on such understanding, the technical solutions of the embodiments of the present application can be embodied in the form of software product, and the computer software product is stored in a storage medium, and includes several instructions to make an electronic device execute all or part of the methods described in the embodiments of the present application. The foregoing storage medium includes a mobile storage device, a ROM, a magnetic disc or an optical disc and various storage medium capable of storing program codes.

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

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

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

[0142] The above is only the implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A control system of a vehicle characterized by comprising: The control system comprises 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 part 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 configured to control the connection of the driving control units other than the driving control unit that fails in the event of failure of any one or more of the driving control units, 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, the target sensor being a sensor for assisting driving; a target driving control unit configured to control driving of the vehicle according to detection data sent by the target sensor in the event of power supply by a target power supply unit, the target driving control unit being at least one of the driving control units of the at least three driving control units that have not failed, and the target power supply unit being a power supply unit connected to the power distribution control unit corresponding to the target driving control unit.

2. The system of claim 1, wherein, 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 through one of the power distribution control units.

3. The system of claim 1 or 2, wherein: any two of the driving control units communicate through a wireless link, or any two of the driving control units communicate through a switch, or any two of the driving control units communicate through a wired link.

4. The system of claim 1, wherein, The target power distribution control unit comprises 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 a second power supply unit, the first power supply unit and the first fuse unit form a first sub-circuit, the second power supply unit and the second fuse unit form a second sub-circuit, and the first sub-circuit and the second sub-circuit 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 turned off through the first fuse unit in the event of failure of the first power supply unit, so as to isolate the first power supply unit; the controller is configured to control the connection between the target power distribution control unit and the second power supply unit to be turned off through the second fuse unit in the event of failure of 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 of claim 4, wherein, The target power distribution control unit further comprises 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 configured to control the connection between the target power distribution control unit and the driving control unit connected to the target power distribution control unit to be turned off through the third fusing unit in the case where the driving control unit connected to the target power distribution control unit fails.

6. The system of claim 1, wherein, Each of the driving control units comprises a chip SOC and a micro control unit MCU, and the MCUs in any two of the driving control units are connected to each other. Each of the MCUs is configured to monitor a current state of the corresponding SOC and send the current state of the corresponding SOC to other MCUs, the current state comprising a normal state or a failure state. Each of the SOCs is configured to calculate target control data from at least part of the detection data and send the target control data to the vehicle through the corresponding MCU to control driving of the vehicle.

7. The system of claim 6, wherein, The target driving control unit is a driving control unit whose corresponding SOC is in the normal state, and in the case where the target driving control unit comprises a first target driving control unit and a second target driving control unit, the SOC of the first target driving control unit is further configured 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 of claim 6 or 7, wherein, Each of the SOCs stores at least three computing power models, different computing power models provide different computing power resources, each of the SOCs calculates the target control data from the detection data by calling a target computing power model, and the computing power resources provided by the target computing power model are determined according to the number of SOCs in the normal state.

9. The system of claim 8, wherein, The SOC comprises a non-volatile memory, and the non-volatile memory is configured to store the at least three computing power models.

10. A control method of a vehicle characterized by comprising: The control system applied to the vehicle of any one of claims 1-9, 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 part of the at least three power supply units through 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 configured to control other driving control units except the driving control unit that fails to establish connection in the case where any one or more of the driving control units fails, any two of the driving control units being in communication 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 case where any one or more of the at least three driving control units fails, controlling other driving control units except the driving control unit that fails to establish connection among the at least three driving control units, and determining the other driving control units except the driving control unit that fails as target driving control units. In a case that the target driving control unit is powered by a target power supply unit, the target driving control unit is at least one of the driving control units which do not fail in the 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; The vehicle is driven by the target driving control unit according to the detection data.

11. The method of claim 10, wherein, The target power distribution control unit comprises 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 a second power supply unit, the first power supply unit and the first fuse unit form a first sub-circuit, the second power supply unit and the second fuse unit form a second sub-circuit, the first sub-circuit and the second sub-circuit are connected in parallel, and the method comprises: In a case that the first power supply unit fails, the controller controls the connection between the target power distribution control unit and the first power supply unit to be turned off through the first fuse unit, so as to isolate the first power supply unit; In a case that the second power supply unit fails, the controller controls the connection between the target power distribution control unit and the second power supply unit to be turned off through the second fuse unit, so as to isolate the second power supply unit; The target power distribution control unit is any one of the at least three power distribution control units.

12. The method of claim 11, wherein, The target power distribution control unit further comprises 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 comprises: In a case that the driving control unit connected to the target power distribution control unit fails, the controller controls the connection between the target power distribution control unit and the driving control unit connected to the target power distribution control unit to be turned off through the third fuse unit.

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