Vehicle control method and device, vehicle, equipment and storage medium

Abstract

The invention relates to a vehicle control method and device, a vehicle, equipment and a storage medium, and relates to the technical field of vehicles. The method is applied to the vehicle, the vehicle comprises a main controller and a redundant controller, the main controller and the redundant controller are both used for controlling a power system of the vehicle, and the method comprises the steps that under the condition that the vehicle is in a starting state, the state of the main controller is obtained; under the condition that the main controller is in the fault state, whether the main controller needs to be switched into a redundant controller or not is determined according to the working state of the vehicle; and under the condition that the main controller is determined to be switched to the redundant controller, the power system is controlled through the redundant controller based on the driving operation of the driver of the vehicle. Therefore, the stability and the safety of the vehicle control system can be improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, in particular to the field of vehicle control, and specifically to a vehicle control method, device, vehicle, equipment and storage medium. Background Art

[0002] With the rapid development of intelligent driving technology, the control system of vehicles has become more and more complex. However, this highly complex control system has low stability and safety and is prone to failure. Vehicles need to be able to respond quickly and accurately in various driving scenarios, including high-speed driving on highways, frequent starts and stops on urban roads, and complex and changeable weather and road conditions. Once the control system fails, the performance of the vehicle may be seriously affected and may even cause a safety accident.

[0003] Related technology CN115179964A proposes that when the main power control system fails, basic power control can be performed through a redundant power control unit to achieve the requirements of the automatic driving system to pull over or to a safe area. It is difficult to ensure the stability and safety of the vehicle's control system in multiple driving scenarios.

[0004] Related technology CN114940183A proposes that high-level autonomous driving requires necessary power output when an abnormality occurs in the power system to achieve pull-over parking or parking in a safe area. However, it is also difficult to ensure the stability and safety of the vehicle's control system in multiple driving scenarios.

[0005] Therefore, it is necessary to explore effective ways to ensure the stability and safety of the vehicle's control system. Summary of the invention

[0006] The present application provides a vehicle control method, device, vehicle, equipment and storage medium to at least solve the technical problem that the vehicle control system in the related art has low stability and safety and is prone to failure. The technical solution of the present application is as follows:

[0007] According to the first aspect provided by the present application, a vehicle control method is provided, which is applied to a vehicle, wherein the vehicle includes a main controller and a redundant controller, both of which are used to control a power system of the vehicle, including: when the vehicle is in a startup state, obtaining the state of the main controller; when the main controller is in a fault state, determining whether it is necessary to switch the main controller to a redundant controller according to the working state of the vehicle; when it is determined to switch the main controller to a redundant controller, controlling the power system through the redundant controller based on the driving operation of the vehicle driver.

[0008] According to the above-mentioned technical means, the present application can automatically detect whether the main controller has a fault, and decide whether to switch the main controller to a redundant controller according to the working status of the vehicle, thereby ensuring that the vehicle can maintain effective control of the power system under any circumstances, improving the reliability of the entire system, and ensuring that the vehicle can remain in a safe state when a fault occurs.

[0009] In one possible implementation, the working state includes a driving state, and whether the main controller needs to be switched to a redundant controller is determined based on the working state of the vehicle, including: when the vehicle is in a driving state, determining to switch the main controller to a redundant controller.

[0010] According to the above technical means, the present application can immediately take over the control task through the redundant controller when the main controller fails, so as to ensure the continuity and stability of vehicle driving, thereby ensuring the safety of vehicle driving.

[0011] In one possible implementation, the working state includes a stationary state, and according to the working state of the vehicle, determining whether it is necessary to switch the main controller to a redundant controller includes: when the vehicle is in a stationary state, determining whether it is necessary to switch the main controller to a redundant controller according to user demand; when the user demand is used to indicate switching to a redundant controller, determining to switch the main controller to a redundant controller.

[0012] According to the above technical means, the present application can flexibly decide whether to switch the controller immediately according to user needs (such as emergency affairs processing, etc.), thereby enhancing safety and security.

[0013] In one possible implementation, the power system is controlled by a redundant controller based on the driving operation of the vehicle driver, including: analyzing the driving operation by the redundant controller to determine the driving demand of the driver; and controlling the power system by the redundant controller and the driving demand.

[0014] According to the above technical means, the present application can take over the control tasks through redundant control when the main controller fails, ensuring that the vehicle's power system can still work normally according to the driver's intention. This fault tolerance capability is crucial to ensuring driving safety.

[0015] In one possible implementation, the method further includes: obtaining a status of a main controller and a status of a redundant controller; and when it is determined that both the main controller and the redundant controller are in a fault state, controlling the vehicle to travel to a safe area.

[0016] According to the above technical means, the present application can automatically guide the vehicle to a safe area to reduce the risk of traffic accidents when both the main controller and the redundant controller fail at the same time, resulting in the vehicle being unable to be normally operated as the driver intends.

[0017] In a possible implementation, when it is determined that the main controller and / or the redundant controller is in a fault state, fault information is output; the fault information is used to indicate that the main controller and / or the redundant controller is in a fault state.

[0018] According to the above technical means, the present application can enable the driver or vehicle maintenance personnel to quickly identify the fault status of the controller through the instant output of fault information, thereby reminding the driver to take necessary preventive measures, such as slowing down, avoiding obstacles, etc.

[0019] According to the second aspect provided by the present application, a vehicle control device is provided, including: an acquisition unit, a determination unit and a control unit; the acquisition unit is used to acquire the state of a main controller when the vehicle is in a startup state; the determination unit is used to determine whether it is necessary to switch the main controller to a redundant controller according to the working state of the vehicle when the main controller is in a fault state; the control unit is used to control the power system through the redundant controller based on the driving operation of the vehicle driver when it is determined that the main controller is switched to a redundant controller.

[0020] In one possible implementation, the determination unit is specifically used to: when the vehicle is in a driving state, determine to switch the main controller to a redundant controller.

[0021] In one possible implementation, the determination unit is specifically used to: when the vehicle is stationary, determine whether it is necessary to switch the main controller to a redundant controller based on user demand; when the user demand is used to indicate switching to a redundant controller, determine to switch the main controller to a redundant controller.

[0022] In one possible implementation, the control unit is specifically used to: analyze driving operations through a redundant controller to determine the driver's driving needs; and control the power system through the redundant controller and the driving needs.

[0023] In one possible implementation, the acquisition unit is further used to acquire the status of the main controller and the status of the redundant controller; the control unit is further used to control the vehicle to travel to a safe area when it is determined that both the main controller and the redundant controller are in a fault state.

[0024] In one possible implementation, the device also includes an output unit; the output unit is used to output fault information when it is determined that the main controller and / or the redundant controller is in a fault state; the fault information is used to indicate that the main controller and / or the redundant controller is in a fault state.

[0025] According to the third aspect provided by the present application, a vehicle is provided, comprising: a main controller, a redundant controller, a power system and a vehicle control device; the main controller and the redundant controller are both used to control the power system of the vehicle; the vehicle control device is used to obtain the state of the main controller when the vehicle is in a startup state; the vehicle control device is used to determine whether it is necessary to switch the main controller to a redundant controller according to the working state of the vehicle when the main controller is in a fault state; the vehicle control device is used to control the power system through the redundant controller based on the driving operation of the vehicle driver when it is determined that the main controller is switched to the redundant controller.

[0026] According to the fourth aspect provided by the present application, an electronic device is provided, comprising: a processor; a memory for storing processor executable instructions; wherein the processor is configured to execute instructions to implement the method of the above-mentioned first aspect and any possible implementation manner thereof.

[0027] According to the fifth aspect provided by the present application, a computer-readable storage medium is provided. When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the method in the above-mentioned first aspect and any possible implementation method thereof.

[0028] According to the sixth aspect provided by the present application, a computer program product is provided, the computer program product comprising computer instructions, and when the computer instructions are executed on an electronic device, the electronic device executes the method of the above-mentioned first aspect and any possible implementation manner thereof.

[0029] Therefore, the above technical features of the present application have the following beneficial effects:

[0030] (1) The main controller can automatically detect whether the main controller has a fault and decide whether to switch the main controller to a redundant controller based on the working status of the vehicle, thereby ensuring that the vehicle can maintain effective control of the power system under any circumstances, improving the reliability of the entire system, and ensuring that the vehicle can remain safe when a fault occurs.

[0031] (2) When the main controller fails, the redundant controller can immediately take over the control task to ensure the continuity and stability of vehicle driving, thereby ensuring vehicle driving safety.

[0032] (3) It is possible to flexibly decide whether to switch the controller immediately based on user needs (such as emergency transaction processing), thereby enhancing safety and security.

[0033] (4) In the event of a failure in the main controller, redundant control can take over control tasks to ensure that the vehicle's power system can still operate normally according to the driver's intention. This fault tolerance capability is crucial to ensuring driving safety.

[0034] (5) When both the main controller and the redundant controller fail at the same time, causing the vehicle to be unable to be operated normally as the driver intends, the vehicle can be automatically guided to a safe area to reduce the risk of traffic accidents.

[0035] (6) The real-time output of fault information enables the driver or vehicle maintenance personnel to quickly identify the fault status of the controller, thereby reminding the driver to take necessary preventive measures, such as slowing down, avoiding obstacles, etc.

[0036] It should be noted that the technical effects brought about by any implementation method in the second to sixth aspects can refer to the technical effects brought about by the corresponding implementation method in the first aspect, and will not be repeated here.

[0037] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application, and do not constitute an improper limitation on the present application.

[0039] Figure 1 is a schematic structural diagram of a vehicle according to an exemplary embodiment;

[0040] Figure 2 is a flow chart of a vehicle control method according to an exemplary embodiment;

[0041] Figure 3 is a schematic diagram of a hardware architecture of a vehicle control system according to an exemplary embodiment;

[0042] Figure 4 is a schematic diagram showing a vehicle control process according to an exemplary embodiment;

[0043] Figure 5 is a block diagram of a vehicle control device according to an exemplary embodiment;

[0044] Figure 6It is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0045] In order to enable ordinary persons in the art to better understand the technical solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0046] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0047] In the embodiments of the present application, words such as "exemplary", "for example", or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary", "for example", or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "for example", or "for example" is intended to present related concepts in a specific way.

[0048] First, the related technologies involved in this application are explained to facilitate understanding by those skilled in the art.

[0049] With the rapid development of intelligent driving technology, the control systems of modern vehicles are undergoing unprecedented complexity and integration. These systems not only integrate advanced sensor technology, high-precision maps, artificial intelligence algorithms and powerful computing power, but also need to achieve real-time interaction and decision-making between the vehicle and the surrounding environment to ensure safe and efficient driving. However, this highly complex design also brings a series of challenges, especially in terms of stability and safety.

[0050] First, at the hardware level, highly integrated electronic control systems rely on the coordinated work of many precision components. Any minor fault may trigger a chain reaction and affect the operation of the entire vehicle. For example, errors in sensor data, overheating of processing chips, or instability of communication links may cause the control system to misjudge or delay response, thereby endangering driving safety.

[0051] Secondly, at the software level, the software development of intelligent driving systems involves multi-layer architecture and a large amount of code, which makes system debugging and maintenance extremely complicated. Software vulnerabilities, algorithm defects or improper version updates may become safety hazards, causing abnormal vehicle behavior or loss of control. In addition, with the improvement of the level of autonomous driving (from L1 assisted driving to L5 fully autonomous driving), the amount of data that the system needs to process and the complexity of decision-making have increased dramatically, placing higher requirements on the real-time and robustness of the software.

[0052] In addition, the control system needs to respond quickly and accurately to various driving scenarios, such as high-speed cruising on highways, frequent start-stop driving in urban congestion, low-light conditions during night driving, reduced visibility in bad weather, and obstacle avoidance operations under complex road conditions. This requires the system to be not only highly intelligent and adaptive, but also to be able to maintain stability in extreme situations to prevent accidents caused by misjudgment or untimely processing.

[0053] A related technology proposes that when the active power control system fails, basic power control can be performed through a redundant power control unit to achieve the requirements of the automatic driving system to pull over or to a safe area, but this method cannot fully meet driving needs.

[0054] Another related technology proposes that high-level autonomous driving needs to provide necessary power output when an abnormality occurs in the power system to achieve pull-over parking or parking in a safe area. However, it is also difficult to ensure the stability and safety of the vehicle's control system in multiple driving scenarios.

[0055] Therefore, it is necessary to explore effective ways to ensure the stability and safety of vehicle control systems.

[0056] As the background technology, in order to solve the problem that the vehicle control system has low stability and safety and is prone to failure, the present application provides a vehicle control method, which can obtain the state of the main controller when the vehicle is in the starting state, and when the main controller is in the fault state, determine whether it is necessary to switch the main controller to a redundant controller according to the working state of the vehicle, so as to further control the power system through the redundant controller based on the driving operation of the driver of the vehicle when it is determined to switch the main controller to the redundant controller.

[0057] Based on this, the present application can automatically detect whether the main controller has a fault, and decide whether to switch the main controller to a redundant controller based on the working status of the vehicle, thereby ensuring that the vehicle can maintain effective control of the power system under any circumstances, improving the reliability of the entire system, and ensuring that the vehicle can remain in a safe state when a fault occurs.

[0058] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0059] The vehicle control method provided in the embodiment of the present application can be applied in a vehicle. A vehicle can also be called a vehicle, a mobile carrier, an electric vehicle (EV), a hybrid electric vehicle (HEV), a plug-in hybrid electric vehicle (PHEV), a fuel cell vehicle (FCV), an autonomous vehicle, an intelligent and connected vehicle (ICV), a driverless vehicle, etc.

[0060] In the embodiments of the present application, the vehicle may be a sedan, a sport utility vehicle (SUV), a truck, an electric vehicle, a motorcycle, a tricycle, a special vehicle (such as an ambulance, a fire truck, a police car, etc.), an unmanned taxi, an intelligent networked bus, an automatic driving logistics vehicle, an electric truck, etc. In addition, the method is also applicable to various special vehicles, such as agricultural vehicles, mining vehicles, forestry vehicles, airport vehicles, port vehicles, etc. The present application does not impose specific restrictions on this.

[0061] Figure 1 A schematic structural diagram of a vehicle 100 is shown.

[0062] The vehicle 100 may include a vehicle control device 101, a main controller 102, a redundant controller 103, and a power system 104. A communication connection may be established between the vehicle control device 101 and the main controller 102. A communication connection may be established between the vehicle control device 101 and the redundant controller 103. A connection may be established between the power system 104 and the main controller 102. A connection may be established between the power system 104 and the redundant controller 103. Both the main controller 102 and the redundant controller 103 are used to control the power system of the vehicle.

[0063] In practical applications, the vehicle control device 101 may be communicatively connected to one or more redundant controllers 103 .

[0064] For ease of understanding, the present application takes the communication connection between a vehicle control device 101 and a redundant controller 103 as an example for explanation.

[0065] Optional, Figure 1 The vehicle control device 101, the main controller 102 and the redundant controller 103 may be functional modules integrated into the same device, or may be devices independently arranged from each other. This application does not impose any limitation on this.

[0066] It is easy to understand that when the vehicle control device 101, the main controller 102 and the redundant controller 103 are functional modules integrated in the same device, the communication method between the vehicle control device 101, the main controller 102 and the redundant controller 103 is the communication between the modules inside the device. In this case, the communication process between the vehicle control device 101 and the main controller 102 is the same as the "communication process between the vehicle control device 101 and the main controller 102 when they are independently set up", and the communication process between the vehicle control device 101 and the redundant controller 103 is the same as the "communication process between the vehicle control device 101 and the redundant controller 103 when they are independently set up".

[0067] For ease of understanding, the present application is mainly described by taking the example that the vehicle control device 101 , the main controller 102 and the redundant controller 103 are independently configured.

[0068] Figure 1 The vehicle control device 101 can obtain the status of the main controller 102 when the vehicle is in the starting state, and when the main controller 102 is in the fault state, determine whether it is necessary to switch the main controller 102 to the redundant controller 103 according to the working state of the vehicle, so as to further control the power system 104 through the redundant controller 103 based on the driving operation of the vehicle driver when it is determined that the main controller 102 is switched to the redundant controller 103.

[0069] Optionally, Figure 1 The vehicle control device 101 may be a terminal, a server, or other types of electronic devices. Figure 1 What is shown in the figure is only an example of the device form of the vehicle control device 101 and does not constitute a limitation thereto.

[0070] In the case where the vehicle control device 101 is a terminal, the terminal can be a device for providing voice and / or data connectivity to a user, a handheld device with a wireless connection function, or other processing devices connected to a wireless modem. The terminal can communicate with one or more core networks via a radio access network (RAN). The terminal can be a mobile terminal, such as a computer with a mobile terminal, or a mobile device built into the vehicle 100, which exchanges language and / or data with a radio access network, such as a mobile phone, a tablet computer, a laptop computer, a netbook, a personal digital assistant (PDA). This application does not impose any restrictions on this.

[0071] When the vehicle control device 101 is a server, the server may be a single server, or a server cluster composed of multiple servers. In some implementations, the server cluster may also be a distributed cluster. This application does not impose any restrictions on this.

[0072] It should be noted that the structure illustrated in the embodiment of the present application does not constitute a limitation on the vehicle 100. It may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0073] For ease of understanding, the vehicle control method provided in the present application is specifically introduced below with reference to the accompanying drawings.

[0074] Figure 2 is a flow chart of a vehicle control method according to an exemplary embodiment. Figure 2 As shown, the vehicle control method includes the following steps: S201-S203.

[0075] S201. When the vehicle is in the startup state, obtain the state of the main controller.

[0076] Optionally, the state of the main controller includes a fault state and a normal operating state.

[0077] In one possible implementation, the vehicle control device may obtain operating information of the main controller when the vehicle is in a startup state, and determine the state of the main controller based on the operating information of the main controller.

[0078] Optionally, the method by which the vehicle control device obtains the operating information of the main controller can be set according to actual needs. For example, the vehicle control device monitors the main controller in real time through a redundant controller and obtains the operating information of the main controller, or the vehicle control device monitors the main controller in real time through a configured acquisition unit and obtains the operating information of the main controller. This application does not impose specific restrictions on this.

[0079] In one example, the operation information of the main controller may include software operation information and hardware operation information. The vehicle control device may determine whether there is an abnormality in the software operation information and the hardware operation information. The vehicle control device may determine that the state of the main controller is a fault state when it is determined that there is an abnormality in the software operation information and / or the hardware operation information.

[0080] In another possible implementation, the vehicle control device may obtain the operation information of the redundant controller when the vehicle is in the startup state, and determine the state of the redundant controller based on the operation information of the redundant controller. The vehicle control device may determine the state of the redundant controller with reference to the above description of determining the state of the main controller. This application does not impose specific restrictions on this.

[0081] S202: When the main controller is in a fault state, determine whether it is necessary to switch the main controller to a redundant controller according to the working state of the vehicle.

[0082] In a possible implementation, when the main controller is in a fault state, the vehicle control device can obtain the electric drive mode, battery mode, and vehicle speed of the vehicle. The vehicle control device can determine the working state of the vehicle based on the electric drive mode, battery mode, vehicle speed, and drivable state of the vehicle.

[0083] Optionally, the working state of the vehicle includes a driving state and a stationary state. The vehicle control device may determine that the working state of the vehicle is a driving state when the electric drive mode is a torque mode, the battery mode is a high-voltage mode, the vehicle speed is greater than zero, and the vehicle is in a drivable state, and otherwise determine that the working state of the vehicle is a stationary state.

[0084] In one possible implementation, the vehicle control device may determine to switch the main controller to a redundant controller when the vehicle is in driving state.

[0085] Alternatively, the vehicle control device may obtain user operations when the vehicle is stationary, and determine user requirements based on the user operations, so as to further determine whether it is necessary to switch the main controller to a redundant controller based on the user requirements. The vehicle control device may determine to switch the main controller to a redundant controller when the user requirements are used to indicate switching to a redundant controller.

[0086] In one example, when the main controller is in a fault state and the vehicle is stationary, the vehicle control device can display the fault state of the main controller and whether it is necessary to switch to a redundant controller through the central control screen. The user can choose whether to switch to a redundant controller. If the user chooses to switch to a redundant controller, it is determined to switch the main controller to a redundant controller.

[0087] S203: When it is determined to switch the main controller to the redundant controller, the power system is controlled by the redundant controller based on the driving operation of the driver of the vehicle.

[0088] In one possible implementation, the vehicle control device may analyze the driving operation through a redundant controller, determine the driver's driving needs, and control the power system through the redundant controller and the driving needs.

[0089] In one example, in a human driving scenario, the vehicle control device can control the vehicle driving through the main controller when the main controller is in a normal state. The main controller can collect the accelerator pedal opening and the brake pedal opening, and convert the accelerator pedal opening into an acceleration command, and convert the brake pedal opening into a brake signal to control the vehicle forward and backward. The main controller can perform high-voltage power-off and gear shifting control through the driver's operation on the central control screen. When the main controller fails, the vehicle control device can control the vehicle driving through a redundant controller, that is, collect the accelerator pedal opening and the brake pedal opening through the redundant main controller, and convert the accelerator pedal opening into an acceleration command, and convert the brake pedal opening into a brake signal to control the vehicle forward and backward. And perform high-voltage power-off and gear shifting control through a redundant main controller.

[0090] In another example, in an intelligent driving scenario, the vehicle control device can control the vehicle driving through the main controller when the main controller is in a normal state. The intelligent driving controller in the vehicle control device can send vehicle control instructions to the main controller. The active power control module in the main controller can decompose the vehicle control instructions into vehicle acceleration, deceleration, forward, backward, turning and other instructions, and send them to the corresponding controller. The vehicle control device can control the vehicle driving through a redundant controller when the main controller fails, that is, the intelligent driving controller in the vehicle control device can send the vehicle control instructions to the redundant controller. The active power control module in the redundant controller can decompose the vehicle control instructions into vehicle acceleration, deceleration, forward, backward, turning and other instructions, and send them to the corresponding controller until the end of this driving cycle (the vehicle is powered off and hibernated).

[0091] In another possible implementation, the vehicle control device can obtain the status of the main controller and the status of the redundant controller, and control the vehicle to travel to a safe area when it is determined that both the main controller and the redundant controller are in a fault state. Furthermore, the vehicle control device can output fault information when it is determined that the main controller and / or the redundant controller are in a fault state; the fault information is used to indicate that the main controller and / or the redundant controller are in a fault state.

[0092] Based on the above technical solution, the present application can automatically detect whether the main controller has a fault, and decide whether to switch the main controller to a redundant controller according to the working status of the vehicle, thereby ensuring that the vehicle can maintain effective control of the power system under any circumstances, improving the reliability of the entire system, and ensuring that the vehicle can remain in a safe state when a fault occurs.

[0093] Figure 3 A schematic diagram of the hardware architecture of a vehicle control system 300 is shown.

[0094] In one possible implementation, the vehicle control system 300 may include a vehicle control device 301, a main controller 302, a redundant controller 303, an electric drive controller 304, a battery controller 305, a steering controller 306, a brake controller 307, an accelerator pedal 308, a brake pedal 309, and a central control screen 310.

[0095] A communication connection may be established between the vehicle control device 301 and the main controller 302. A communication connection may be established between the vehicle control device 301 and the redundant controller 303.

[0096] The main controller 302 can establish communication connections with the electric drive controller 304, the battery controller 305, the steering controller 306, the brake controller 307 and the central control screen 310. The main controller 302 can be connected to the accelerator pedal 308 and the brake pedal 309 through hard wires.

[0097] The redundant controller 303 can establish communication connections with the electric drive controller 304, the battery controller 305, the steering controller 306, the brake controller 307 and the central control screen 310. The redundant controller 303 can be connected to the accelerator pedal 308 and the brake pedal 309 through hard wires.

[0098] Optionally, the communication connection method includes but is not limited to: controller area network (CAN) communication and Ethernet communication.

[0099] Figure 3The vehicle control device 301 in the embodiment can issue intelligent driving instructions to the main controller 302 and the redundant controller 303 respectively. The vehicle control device 301 can also obtain the state of the main controller 302 when the vehicle is in the startup state, and determine whether it is necessary to switch the main controller 302 to the redundant controller 303 according to the working state of the vehicle when the main controller 302 is in the fault state, so as to further control the power system through the redundant controller 303 based on the driving operation of the driver of the vehicle when it is determined that the main controller 302 is switched to the redundant controller 303.

[0100] The main controller 302 and the redundant controller 303 can send electric drive control instructions to the electric drive controller 304 and the battery controller 305 through a communication connection. The main controller 302 and the redundant controller 303 can send chassis control instructions to the steering controller 306 and the brake controller 307 through a communication connection. The user can send power-off, shifting and other instructions to the main controller 302 and the redundant controller 303 through the central control screen 310. The main controller 302 and the redundant controller 303 can collect the acceleration signal of the accelerator pedal 308 through a hard-wired connection. The main controller 302 and the redundant controller 303 can collect the braking signal of the brake pedal 309 through a hard-wired connection.

[0101] Optionally, when the main controller 302 has the low-voltage power supply function, the main controller 302 can provide low-voltage power supply to the electric drive controller 304, the battery controller 305, the steering controller 306, the brake controller 307, the accelerator pedal 308, the brake pedal 309, and the central control screen 310 to ensure that the electric drive controller 304, the battery controller 305, the steering controller 306, the brake controller 307, the accelerator pedal 308, the brake pedal 309, and the central control screen 310 can operate and respond normally when the redundant controller 303 controls them through the redundant control program.

[0102] Alternatively, when the main controller 302 does not have the low-voltage power supply function, low-voltage power supply can be provided to the electric drive controller 304, the battery controller 305, the steering controller 306, the brake controller 307, the accelerator pedal 308, the brake pedal 309, and the central control screen 310 according to other power supply devices.

[0103] It should be noted that the structure illustrated in the embodiment of the present application does not constitute a limitation on the vehicle control system 300. It may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0104] Combination Figure 3 ,like Figure 4 As shown, Figure 4It is a schematic diagram of the vehicle control process.

[0105] In one possible implementation, the vehicle control device can realize normal operation of the vehicle through the main controller.

[0106] Specifically, the vehicle control device can be connected to the main controller in communication. The main controller can be connected to the electric drive controller, the battery controller, the steering controller, the brake controller, etc. in communication to achieve normal operation of the vehicle.

[0107] In one possible implementation, the vehicle control device may monitor in real time whether a main controller fails through a redundant controller.

[0108] Specifically, the vehicle control device can monitor in real time through the redundant controller the relevant signals sent by the main controller to the electric drive controller, the battery controller, the steering controller, the brake controller, etc., to determine whether the main controller fails.

[0109] In one possible implementation, the vehicle control device can make a switching decision when a main controller fails.

[0110] The vehicle control device can use the redundant controller to determine whether to switch the main controller to the redundant controller according to the working state of the vehicle when the main controller is in a faulty state. The specific implementation method of the vehicle control device for switching judgment can refer to the above S201. No further description is given here.

[0111] In one possible implementation, the vehicle control device can achieve normal vehicle operation through a redundant controller when the main controller is in a fault state.

[0112] Specifically, the vehicle control device can be connected to the redundant controller in communication. The redundant controller can be connected to the electric drive controller, the battery controller, the steering controller, the brake controller, etc. in communication to achieve normal operation of the vehicle.

[0113] Among them, the main control program of the main controller and the redundant control program of the redundant controller are logically consistent. The main controller and the redundant controller can send control instructions at the same time through different message identifiers. The electric drive controller, battery controller, steering controller, brake controller, accelerator pedal, brake pedal, and central control screen can receive control instructions sent simultaneously by the main controller and the redundant controller. The electric drive controller, battery controller, steering controller, brake controller, accelerator pedal, brake pedal, and central control screen can only respond to the control instructions of the main controller when the main controller is not faulty, or give priority to the control instructions of the main controller. The electric drive controller, battery controller, steering controller, brake controller, accelerator pedal, brake pedal, and central control screen can only respond to the control instructions of the redundant controller when the main controller fails, or give priority to the control instructions of the redundant controller.

[0114] It is understandable that if the main controller recovers from the fault, it will no longer send related control instructions, so that the redundant controller controls the vehicle until the power is off. The time for the vehicle control device to perform switching judgment and switching is less than the preset time.

[0115] Optionally, the preset duration can be set according to actual needs. For example, the preset duration can be 5 seconds or 10 seconds. This application does not make specific restrictions on this.

[0116] In one possible implementation, the vehicle control device may control the vehicle to power off through a redundant controller.

[0117] In some embodiments, the redundant controller may include a monitoring module, a switching determination module, and a power redundancy module.

[0118] The monitoring module can determine whether the main controller has a fault by real-time monitoring of the relevant signals sent by the main controller to the electric drive controller, battery controller, steering controller, brake controller, etc.

[0119] The switching judgment module can determine whether the main controller needs to be switched to a redundant controller according to the working state of the vehicle when the vehicle control device is in a fault state. The specific implementation method of the switching judgment module for switching judgment can refer to the above S201. No further description is given here.

[0120] The redundant control program included in the power redundancy module is logically consistent with the main control program of the main controller. The redundant control program and the main control program can send control instructions at the same time through different message identifiers. The electric drive controller, battery controller, steering controller, brake controller, accelerator pedal, brake pedal, and central control screen can receive control instructions sent simultaneously by the redundant control program and the main control program. The electric drive controller, battery controller, steering controller, brake controller, accelerator pedal, brake pedal, and central control screen can only respond to the control instructions of the main control program when the main controller is not faulty, or give priority to the control instructions of the main control program. The electric drive controller, battery controller, steering controller, brake controller, accelerator pedal, brake pedal, and central control screen can respond to the control instructions of the redundant control program when the main controller fails, or give priority to the control instructions of the redundant control program.

[0121] The redundant control program includes but is not limited to the following logics: driver demand analysis logic, redundant high-voltage control logic, redundant component control logic, redundant gear control logic, redundant drivability control logic, redundant torque control logic, redundant fault processing logic, and redundant display processing logic.

[0122] The driver demand analysis logic can be used to analyze acceleration signals, braking signals, and driving or braking requirements in various driving scenarios. For example, in human driving scenarios, the acceleration signals and braking signals are analyzed to identify the driver's driving or braking requirements, and in intelligent driving scenarios, the acceleration signals and braking signals of intelligent driving are analyzed to identify the driving or braking requirements of intelligent driving.

[0123] Redundant high-voltage control logic can be used to maintain high-voltage control of the vehicle when the redundant controller controls the vehicle. Redundant high-voltage control logic includes sending high-voltage control instructions to the power battery in human driving scenarios to maintain high voltage, and controlling the vehicle to power down after identifying the need for high-voltage power-down. Redundant high-voltage control logic also includes triggering through intelligent driving instructions in intelligent driving scenarios.

[0124] Optionally, when the redundant fault handling logic identifies a high voltage fault, the redundant high voltage control logic may power down the high voltage of the vehicle.

[0125] The redundant component control logic can be used to send corresponding control instructions to controllers that affect driving safety, such as thermal management, electric drive, and DC converter, based on the high-voltage status.

[0126] The redundant gear control logic can be used to shift gears according to the driver's needs in human driving scenarios, including the driver shifting gears through the soft switch buttons in the central control screen, and shifting gears in intelligent driving scenarios according to the instructions issued by the intelligent driving controller.

[0127] The redundant drivable control logic can be used to continuously send the drivable state when the vehicle is in the drivable state until a high-voltage power-off command is recognized and the drivable state is exited.

[0128] Optionally, when some drivable faults are identified through the redundant fault handling logic, the redundant gear control logic can be used to control the high pressure of the entire vehicle.

[0129] The redundant torque control logic can be used to analyze the driving and braking requirements obtained through the driver demand analysis logic, and at the same time, combined with speed limit, wheel-end torque limit and other restriction conditions, to control the acceleration or deceleration of the entire vehicle after obtaining the torque command for the electric drive.

[0130] Redundant fault handling logic can be used to monitor in real time whether the battery, electric drive, steering, braking and other controllers have faults, and output relevant fault signs to enable other logics to make fault judgments.

[0131] The redundant display processing logic can be used to display the signal output by the redundant power and perform basic filtering on the relevant signal, including driving information, for example, including vehicle speed, mileage, gear position, etc.

[0132] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the method. In order to realize the above functions, the vehicle control device or electronic device includes a hardware structure and / or software module corresponding to the execution of each function. It should be easily appreciated by those skilled in the art that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present application.

[0133] The embodiments of the present application can exemplarily divide the functional modules of the vehicle control device or electronic device according to the above method. For example, the vehicle control device or electronic device can include various functional modules corresponding to the various functional divisions, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiments of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0134] Figure 5 is a block diagram of a vehicle control device according to an exemplary embodiment. Figure 5The vehicle control device includes: an acquisition unit 401, a determination unit 402, a control unit 403 and an output unit 404.

[0135] In a possible implementation, the acquisition unit 401 is used to acquire the state of the main controller when the vehicle is in a startup state.

[0136] In a possible implementation, the determination unit 402 is used to determine whether the main controller needs to be switched to a redundant controller according to the working state of the vehicle when the main controller is in a fault state.

[0137] In one possible implementation, the control unit 403 is used to control the power system through the redundant controller based on the driving operation of the vehicle driver when it is determined to switch the main controller to the redundant controller.

[0138] In a possible implementation, the determination unit 402 is specifically configured to: when the vehicle is in a driving state, determine to switch the main controller to a redundant controller.

[0139] In a possible implementation, the determination unit 402 is specifically configured to: determine whether to switch the main controller to a redundant controller according to user requirements when the vehicle is stationary, and determine to switch the main controller to a redundant controller when the user requirements indicate switching to a redundant controller.

[0140] In a possible implementation, the control unit 403 is specifically configured to: analyze the driving operation through the redundant controller to determine the driving demand of the driver, and control the power system through the redundant controller and the driving demand.

[0141] In a possible implementation, the acquisition unit 401 is further configured to acquire the status of the main controller and the status of the redundant controller.

[0142] In a possible implementation, the control unit 403 is further configured to control the vehicle to travel to a safe area when it is determined that both the main controller and the redundant controller are in a fault state.

[0143] In a possible implementation, the output unit 404 is configured to output fault information when it is determined that the main controller and / or the redundant controller is in a fault state.

[0144] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0145] Figure 6 FIG. 1 is a block diagram of an electronic device according to an exemplary embodiment. Figure 6 As shown, the electronic device includes but is not limited to: a processor 501 and a memory 502 .

[0146] The memory 502 is used to store executable instructions of the processor 501. It can be understood that the processor 501 is configured to execute instructions to implement the vehicle control method in the above embodiment.

[0147] It should be noted that those skilled in the art can understand that Figure 6 The electronic device structure shown in the figure does not constitute a limitation on the electronic device, and the electronic device may include Figure 6 More or fewer components may be shown, or certain components may be combined, or the components may be arranged differently.

[0148] The processor 501 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. By running or executing software programs and / or modules stored in the memory 502, and calling data stored in the memory 502, it performs various functions of the electronic device and processes data, thereby monitoring the electronic device as a whole. The processor 501 may include one or more processing units. Optionally, the processor 501 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 501.

[0149] The memory 502 can be used to store software programs and various data. The memory 502 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application program required by at least one functional module (such as a determination unit, a processing unit, etc.), etc. In addition, the memory 502 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0150] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 502 including instructions. The above instructions can be executed by a processor 501 of an electronic device to implement the method in the above embodiment.

[0151] In actual implementation, Figure 5 The functions of the acquisition unit 401, the determination unit 402, the control unit 403 and the output unit 404 in Figure 6 The processor 501 in the embodiment calls the computer program stored in the memory 502. The specific execution process can refer to the description of the method part in the above embodiment, which will not be repeated here.

[0152] Optionally, the computer-readable storage medium may be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0153] In an exemplary embodiment, the present application also provides a computer program product including one or more instructions, and the one or more instructions can be executed by a processor of an electronic device to complete the method in the above embodiment.

[0154] It should be noted that when the instructions in the above-mentioned computer-readable storage medium or one or more instructions in the computer program product are executed by the processor of the electronic device, the various processes of the above-mentioned method embodiment are implemented, and the same technical effect as the above-mentioned method can be achieved. To avoid repetition, they will not be repeated here.

[0155] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0156] 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. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0157] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0158] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0159] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or the full classification part or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including a number of instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute the full classification part or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, ROM, RAM, disk or CD and other media that can store program code.

[0160] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the present application 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 method, characterized in that: Applied to a vehicle, the vehicle includes a main controller and a redundant controller, the main controller and the redundant controller are both used to control a power system of the vehicle, the method includes: When the vehicle is in a startup state, obtaining a state of the main controller; In the case where the main controller is in a fault state, determining whether it is necessary to switch the main controller to the redundant controller according to the working state of the vehicle; When it is determined that the main controller is switched to the redundant controller, the power system is controlled by the redundant controller based on the driving operation of the driver of the vehicle.

2. The method according to claim 1, characterized in that The working state includes a driving state, and determining whether the main controller needs to be switched to the redundant controller according to the working state of the vehicle includes: When the vehicle is in the driving state, it is determined to switch the main controller to the redundant controller.

3. The method according to claim 1 or 2, characterized in that: The working state also includes a stationary state, and determining whether it is necessary to switch the main controller to the redundant controller according to the working state of the vehicle includes: When the vehicle is in the stationary state, determining whether it is necessary to switch the main controller to the redundant controller according to user needs; In a case where the user demand is used to instruct switching to the redundant controller, it is determined to switch the main controller to the redundant controller.

4. The method according to claim 3, characterized in that The controlling the power system through the redundant controller based on the driving operation of the driver of the vehicle includes: analyzing the driving operation by the redundant controller to determine the driving demand of the driver; The power system is controlled through the redundant controller and the driving demand.

5. The method according to claim 4, characterized in that The method further comprises: Acquire the status of the main controller and the status of the redundant controller; When it is determined that both the main controller and the redundant controller are in a fault state, the vehicle is controlled to travel to a safe area.

6. The method according to claim 5, characterized in that: The method further comprises: When it is determined that the main controller and / or the redundant controller is in a fault state, fault information is output; the fault information is used to indicate that the main controller and / or the redundant controller is in a fault state.

7. A vehicle control device, characterized in that: The device comprises: an acquisition unit, a determination unit and a control unit; The acquisition unit is used to acquire the state of the main controller when the vehicle is in the startup state; The determining unit is used to determine whether it is necessary to switch the main controller to the redundant controller according to the working state of the vehicle when the main controller is in a fault state; The control unit is used to control the power system through the redundant controller based on the driving operation of the driver of the vehicle when it is determined that the main controller is switched to the redundant controller.

8. A vehicle, characterized in that: The vehicle comprises a main controller, a redundant controller, a power system and the vehicle control device according to claim 7; the main controller and the redundant controller are both used to control the power system of the vehicle; The vehicle control device is used to obtain the state of the main controller when the vehicle is in the starting state; The vehicle control device is used to determine whether it is necessary to switch the main controller to the redundant controller according to the working state of the vehicle when the main controller is in a fault state; The vehicle control device is used to control the power system through the redundant controller based on the driving operation of the driver of the vehicle when it is determined that the main controller is switched to the redundant controller.

9. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the method according to any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: When the computer-executable instructions stored in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is capable of performing the method as claimed in any one of claims 1 to 6.

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