Vehicle control signal transmission methods, devices, electronic equipment and storage media

Abstract

This application provides a vehicle control signal transmission method, which includes: acquiring vehicle body lateral and longitudinal control parameters; calculating the computation time for generating the vehicle body lateral and longitudinal control parameters using a control algorithm and the vehicle's current speed; determining a first transmission mode for the vehicle body lateral and longitudinal control parameters by the system-on-a-chip based on the current speed and computation time; if the first transmission mode is an event-based transmission mode, transmitting a data packet including the vehicle body lateral and longitudinal control parameters to the vehicle's main controller using the event-based transmission mode, so that the vehicle's main controller sends the control command corresponding to the data packet to the vehicle's lateral and longitudinal control components. Through this method, the vehicle body lateral and longitudinal control parameters can be transmitted using an event-based transmission mode even at high vehicle speeds or with long computation times, thereby effectively reducing data transmission latency and thus reducing vehicle driving risks.

Description

Technical Field

[0001] This application relates to the field of computer technology, and more specifically, to a method, apparatus, electronic device, and storage medium for transmitting vehicle control signals. Background Technology

[0002] Currently, with the popularization of intelligent driving technology, related technologies typically utilize the vehicle's system-on-a-chip (SOC) to execute complex algorithms such as perception, decision-making, and planning to derive the control parameters required for the current scenario. After receiving the control parameters, the main controller (such as MCU) arbitrates real-time vehicle control requests based on the received control parameters and other relevant information to determine the priority of the vehicle control request. Based on the vehicle control request and control parameters, the control command is obtained and sent to the corresponding control component via CAN bus or other communication protocols, thereby realizing vehicle control.

[0003] However, in related technologies, due to the high time delay of data in the entire perception, decision-making, planning and control phases, there may be a large spatial distance delay in the lateral and longitudinal control of the vehicle body, which poses a high risk during vehicle driving. Summary of the Invention

[0004] In view of this, embodiments of this application propose a vehicle control signal transmission method, device, electronic device, and storage medium. It can determine whether to adopt an event-based transmission mode for the vehicle body's lateral and longitudinal control parameters based on the long calculation time and the current vehicle speed. When it is determined that the lateral and longitudinal control parameters should be transmitted using an event-based transmission mode, the data packet is immediately triggered, reducing the time delay from the generation of lateral and longitudinal control parameters to the sending of control commands to the lateral and longitudinal control components. This effectively reduces the control distance delay for the vehicle's lateral and longitudinal control parameters, thereby reducing the driving risk of the vehicle.

[0005] In a first aspect, embodiments of this application provide a vehicle control signal transmission method, applied to a vehicle system-on-a-chip, the method comprising:

[0006] The system acquires the vehicle's lateral and longitudinal control parameters, calculates the time required to generate these parameters using a control algorithm, and determines the vehicle's current speed. Based on the current speed and the calculation time, it determines a first transmission method for the system-on-a-chip (SoC) to transmit the lateral and longitudinal control parameters, whereby the first transmission method includes an event-based transmission method. If the first transmission method is an event-based transmission method, the system transmits a data packet containing the lateral and longitudinal control parameters to the vehicle's main controller, so that the main controller sends the data packet to the vehicle's lateral and longitudinal control components.

[0007] Secondly, embodiments of this application provide a vehicle control signal transmission method applied to a vehicle's main controller. The method includes: receiving a data packet containing lateral and longitudinal control parameters of the vehicle body sent by the vehicle's system-on-a-chip, wherein the lateral and longitudinal control parameters are generated by the main controller using a control algorithm, and the data packet carries a timestamp when the main controller generates the lateral and longitudinal control parameters using the control algorithm; determining a second transmission mode for the data packet by the main controller based on the reception time of the data packet, the timestamp, and whether the data packet carries a priority processing identifier; if the second transmission mode is an interrupt-triggered mode, the lateral and longitudinal control components of the vehicle send the data packet using the interrupt-triggered transmission mode.

[0008] Thirdly, embodiments of this application provide a vehicle control signal transmission device applied to a vehicle system-on-a-chip (SoC). The device includes: a data acquisition module for acquiring vehicle body lateral and longitudinal control parameters, calculating the time required to generate the vehicle body lateral and longitudinal control parameters using a control algorithm, and the current vehicle speed; a first transmission mode determination module for determining a first transmission mode of the SoC for the vehicle body lateral and longitudinal control parameters based on the current vehicle speed and the calculation time; and a first data transmission module for transmitting a data packet including the vehicle body lateral and longitudinal control parameters to the vehicle's main controller using an event-type transmission mode when the first transmission mode is an event-type transmission mode, so that the vehicle's main controller sends the data packet to the vehicle's lateral and longitudinal control components.

[0009] In one possible implementation, the system-on-a-chip is equipped with a control algorithm node and at least one application algorithm node. The data acquisition module is further configured to call the application algorithm node to perform calculations on the data collected by the vehicle's sensing devices using the corresponding application algorithm to obtain application output values; and to call the control algorithm node to perform calculations on the application output values ​​of each application algorithm node using the corresponding control algorithm to obtain the vehicle's lateral and longitudinal control parameters.

[0010] In one possible implementation, the vehicle's system-on-a-chip (SoC) is equipped with output flags corresponding to multiple application algorithm nodes. The vehicle control signal transmission device further includes an adjustment module, configured to, within the current cycle, call the application algorithm nodes to calculate the application output value from the data collected by the vehicle's sensing devices using the corresponding application algorithm, and then adjust the value of the corresponding output flag of the application algorithm nodes from a first value to a second value. The first value indicates that the application algorithm nodes did not calculate the application output value within the current cycle. The data acquisition module is further configured to, call the control algorithm nodes to determine whether each application algorithm node has calculated the application output value within the current cycle based on the assigned values ​​of the output flags corresponding to each application algorithm node. If it is determined that multiple application algorithm nodes have calculated the application output value within the current cycle, call the control algorithm nodes to calculate the application output value of each application algorithm node within the current cycle using the corresponding control algorithm to obtain the vehicle body lateral and longitudinal control parameters. The value adjustment module is further configured to, after calling the control algorithm nodes to calculate the application output value of each application algorithm node using the corresponding control algorithm to obtain the vehicle body lateral and longitudinal control parameters, adjust the value of the flag corresponding to the application algorithm node from the second value to the first value.

[0011] In one possible implementation, the data acquisition module is further configured to determine that among the multiple application algorithm nodes, there is a target application algorithm node that has not calculated an application output value in the current period, and obtain the application output value of the target application algorithm node in the current period based on the application output values ​​of the target application algorithm node in each of the multiple historical periods before the current period.

[0012] In one possible implementation, the system-on-a-chip runs threads corresponding to each of the application algorithm nodes. The vehicle control signal transmission device further includes a timing module, a timing duration judgment module, and a priority boosting module. The timing module is used to call the control algorithm node to determine whether each application algorithm node has calculated an application output value in the current period based on the assigned value of the output flag bit corresponding to each application algorithm node, and then start timing. The timing duration judgment module is used to determine whether a target application algorithm node has not calculated an application output value in the current period among multiple application algorithm nodes, and whether the timing duration has reached a preset duration. The priority boosting module is used to boost the priority of the thread corresponding to the target application algorithm node if the preset duration has not been reached.

[0013] In one possible implementation, the system-on-a-chip (SoC) further includes a signal forwarding node. The data transmission protocol between the nodes in the SoC is a first protocol, and the data transmission protocol between the SoC and the main controller is a second protocol. The first data transmission module is further configured to call the control algorithm node to transmit a data packet including the vehicle body's lateral and longitudinal control parameters to the signal forwarding node using an event-driven transmission method; call the signal forwarding node to convert the data packet's transmission protocol from the first protocol to the second protocol to obtain a protocol-converted data packet, and send the protocol-converted data packet to the main controller using an event-driven transmission method.

[0014] In one possible implementation, the vehicle control signal transmission device further includes: an identifier adding module, used to add a priority processing identifier to the data packet including the vehicle body lateral and longitudinal control parameters, so that when the vehicle's main controller receives the data packet, it sends the data packet to the vehicle's lateral and longitudinal control components via the CAN bus based on the priority processing identifier using an interrupt triggering method.

[0015] In one possible implementation, the first transmission mode determination module is further configured to determine whether the current vehicle speed is greater than a preset vehicle speed threshold, and whether the calculation time is greater than a preset calculation duration threshold; if the current vehicle speed is greater than the preset vehicle speed threshold or the calculation time is greater than the preset calculation duration threshold, the first transmission mode of the system-on-a-chip for the vehicle body lateral and longitudinal control parameters is determined to be an event-type transmission mode; if the current vehicle speed is not greater than the preset vehicle speed threshold and the calculation time is not greater than the preset calculation duration threshold, the first transmission mode of the system-on-a-chip for the vehicle body lateral and longitudinal control parameters is determined to be a periodic transmission mode.

[0016] Fourthly, this application provides a vehicle control signal transmission device applied to the main controller of a vehicle. The device includes: a data receiving module for receiving data packets containing lateral and longitudinal control parameters of the vehicle body sent by the system-on-a-chip of the vehicle, wherein the lateral and longitudinal control parameters are generated by the main controller using a control algorithm, and the data packet carries a timestamp when the main controller generates the lateral and longitudinal control parameters using the control algorithm; a second transmission mode determination module for determining a second transmission mode of the data packet by the main controller based on the reception time of the data packet, the timestamp, and whether the data packet carries a priority processing identifier; and a second data transmission module for sending the data packet to the lateral and longitudinal control components of the vehicle using an interrupt-triggered transmission mode when the second transmission mode is an interrupt-triggered mode.

[0017] In one possible implementation, the second transmission mode determination module is further configured to determine whether the duration between the receiving time and the timestamp exceeds a preset duration, and whether the data packet carries a priority processing identifier; if it exceeds the preset duration or carries a priority processing identifier, the second transmission mode of the main controller for the data packet is determined to be an interrupt-triggered transmission mode; if it does not exceed the preset duration and does not carry a priority processing identifier, the second transmission mode of the main controller for the data packet is determined to be a periodic transmission mode.

[0018] Fifthly, embodiments of this application provide an electronic device, including a processor and a memory; one or more programs are stored in the memory and configured to be executed by the processor to implement the above-described method.

[0019] Sixthly, embodiments of this application provide a computer-readable storage medium storing program code, wherein the above-described method is executed when the program code is run by a processor.

[0020] This application provides a vehicle control signal transmission method, apparatus, electronic device, and storage medium. The method includes: acquiring vehicle body lateral and longitudinal control parameters; calculating the computation time for generating the lateral and longitudinal control parameters using a control algorithm and the vehicle's current speed; determining a first transmission mode for the vehicle body lateral and longitudinal control parameters by the system-on-a-chip based on the current speed and computation time; if the first transmission mode is an event-based transmission mode, transmitting a data packet including the vehicle body lateral and longitudinal control parameters to the vehicle's main controller using the event-based transmission mode, so that the vehicle's main controller sends the control command corresponding to the data packet to the vehicle's lateral and longitudinal control components. Through this method, even at high vehicle speeds or with long computation times, the event-based transmission mode can be used to transmit the vehicle body lateral and longitudinal control parameters, reducing the time delay from the generation of the lateral and longitudinal control parameters to the sending of control commands to the lateral and longitudinal control components. This effectively reduces the spatial distance delay in controlling the corresponding control components based on the vehicle body lateral and longitudinal control parameters, thereby reducing vehicle driving risks. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 A flowchart illustrating a vehicle control signal transmission method provided in an embodiment of this application is shown.

[0023] Figure 2 It shows Figure 1 A flowchart illustrating step S110;

[0024] Figure 3 It shows Figure 1 Another flowchart of step S110;

[0025] Figure 4 It shows Figure 1 Another flowchart of step S130;

[0026] Figure 5 A flowchart illustrating a vehicle control signal transmission method according to another embodiment of this application is shown;

[0027] Figure 6 This paper shows a structural block diagram of a vehicle according to an embodiment of the present application;

[0028] Figure 7 This paper illustrates a schematic diagram of the relationship between nodes in a system-on-a-chip according to an embodiment of this application.

[0029] Figure 8 This paper shows another schematic flowchart of a vehicle control signal transmission method proposed in an embodiment of this application;

[0030] Figure 9 This illustration shows yet another schematic flowchart of a vehicle control signal transmission method proposed in an embodiment of this application;

[0031] Figure 10 This paper shows a connection block diagram of a vehicle control signal transmission device according to an embodiment of this application;

[0032] Figure 11 Another connection block diagram of a vehicle control signal transmission device according to an embodiment of this application is shown;

[0033] Figure 12 A structural block diagram of an electronic device for performing the methods of embodiments of this application is shown. Detailed Implementation

[0034] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided to make this application more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art.

[0035] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0036] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0037] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0038] It should be noted that "multiple" in this article refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0039] It should also be noted that in this embodiment of the application, the collection, use, processing and storage of application information are all subject to the user's permission and must comply with the regulations of the region.

[0040] In related technologies, intelligent driving faces the challenge of complex operating conditions and the need for continuously layered neural network algorithms, leading to high computing power requirements. Currently, the main approach to address this issue is to use a system-on-a-chip (SOC) and a main controller (MCU) working together. The SOC typically deploys perception, prediction, decision-making, planning, and control algorithms, while the MCU, due to its better real-time performance, handles arbitration control. The decision-making, planning, and control algorithms are also deployed on the SOC's operating system, where each algorithm node is scheduled in parallel to execute its corresponding algorithm to determine the control parameters required for the current scenario.

[0041] The algorithms related to driving and parking decision-making and planning all run periodically. The mainstream operating cycles are 100ms / 50ms / 20ms; taking the 20ms cycle as an example. Due to the large number of intelligent driving algorithms and functional application modules, and the increased resource consumption of perception and decision-making algorithms in complex traffic scenarios, the system becomes very busy, sometimes taking close to 20ms to send control calculation signals. Signals are published to the signal relay module on the Linux application side via a communication middleware topic (e.g., DDS communication protocol). The signal relay module runs with a 10ms cycle, forwarding the calculation structure to the MCU. Multi-core heterogeneous systems use the IPC protocol, while non-multi-core heterogeneous systems typically use SPI or SOMEIP protocols for communication. The MCU's control arbitration SWC (software component) runs with a 20ms cycle, but it may also process the calculated value only at the end of a cycle, resulting in a nearly 20ms cycle delay. Finally, the signal to the CAN bus also runs with a 20ms cycle, exhibiting similar cycle delay scenarios.

[0042] The aforementioned delays of 20ms (SOC-side algorithm cycle delay), 10ms (inter-core communication cycle delay), 20ms (MCU-side control arbitration delay), and 20ms (CAN message cycle transmission delay) total approximately 70ms. At a vehicle speed of 120km / s, this 70ms delay introduces an error of 2.33m. At a vehicle speed of 100km / s, this results in an error of approximately 1.94m. Clearly, an error of about 2 meters manifests as delayed braking in longitudinal vehicle control and crossing two lanes in lateral vehicle control, thus posing a significant risk. Furthermore, even with compensation schemes, such as linear interpolation prediction, the aforementioned delays cannot be reduced, making it impossible to handle sudden situations requiring emergency braking or steering.

[0043] Based on this, this application provides a vehicle control signal transmission method. This method involves acquiring the vehicle's lateral and longitudinal control parameters, calculating the computation time for generating these parameters using a control algorithm, and determining the vehicle's current speed. Based on the current speed and computation time, a first transmission method for the system-on-a-chip (SoC) of the lateral and longitudinal control parameters is determined. This first transmission method includes either a periodic transmission method or an event-based transmission method. If the first transmission method is an event-based method, the data packet containing the lateral and longitudinal control parameters is transmitted to the vehicle's main controller. This allows the main controller to send control commands corresponding to the data packet to the vehicle's lateral and longitudinal control components. This method enables the transmission of lateral and longitudinal control parameters at high speeds or with long computation times, reducing the time delay from the generation of the lateral and longitudinal control parameters to the sending of control commands to the lateral and longitudinal control components. This effectively reduces the spatial distance delay in controlling the corresponding control components based on the lateral and longitudinal control parameters, thereby reducing driving risks.

[0044] The specific implementation method of this embodiment is as follows:

[0045] Figure 1 The present application illustrates a vehicle control signal transmission method, which can be applied to a vehicle's system-on-a-chip (SoC). The method includes:

[0046] Step S110: Obtain the vehicle body lateral and longitudinal control parameters, calculate the time required to generate the vehicle body lateral and longitudinal control parameters using the control algorithm, and the current vehicle speed.

[0047] Among them, the vehicle body lateral and longitudinal control parameters refer to various control parameters used to adjust and optimize the vehicle's lateral and longitudinal motion behavior. The longitudinal parameter is mainly related to acceleration and deceleration, and the control parameters involved include acceleration, deceleration, following distance, and speed setting; the lateral parameter is mainly related to vehicle steering, and the control parameters involved include turning radius, steering wheel angle, and lateral acceleration of the vehicle when turning.

[0048] It's worth noting that vehicles are typically equipped with a range of vehicle sensing devices, such as GPS, IMU (Inertial Measurement Unit), wheel speed sensors, steering angle sensors, cameras, and radar. These sensing devices continuously provide information on the vehicle's position, speed, acceleration, direction, and environment.

[0049] In one possible implementation, step S110 may involve receiving data collected by a vehicle sensing device and generating vehicle body lateral and longitudinal control parameters based on the data collected by the vehicle sensing device using a control algorithm. Accordingly, the calculation time for generating the vehicle body lateral and longitudinal control parameters using the control algorithm refers to obtaining the start timestamp when the control algorithm receives the data collected by the sensing device and the end timestamp when it outputs the vehicle body lateral and longitudinal control parameters, and calculating the duration between the start and end timestamps. This duration is the calculation time for generating the vehicle body lateral and longitudinal control parameters based on the control algorithm.

[0050] Please see Figure 2 As shown, in another possible implementation, step S110 includes:

[0051] Step S111: Call the application algorithm node to use the corresponding application algorithm to calculate the data collected by the vehicle's sensing device and obtain the application output value.

[0052] Among them, the application algorithm nodes are mainly responsible for receiving data from various sensors (such as cameras, radar, lidar, ultrasonic sensors, etc.), and preprocessing, analyzing and interpreting it. For example, by running specific application algorithms, such as object recognition, lane detection, traffic sign interpretation, etc., these nodes can understand and analyze the surrounding environment and provide a high-level description of the vehicle's current road conditions and potential obstacles.

[0053] The aforementioned application algorithm nodes may include one or more of the following: target detection and classification nodes, lane detection nodes, and traffic signal recognition nodes. Specifically, the target detection and classification node performs target detection and classification based on image data acquired by a camera and point cloud data acquired by a LiDAR to obtain target detection results; the lane detection node performs lane recognition based on image data acquired by a camera and point cloud data acquired by a LiDAR to obtain lane recognition results; and the traffic signal recognition node performs traffic signal recognition based on image data acquired by a camera and point cloud data acquired by a LiDAR to obtain traffic signal recognition results.

[0054] Step S112: Call the control algorithm node to calculate the application output value of each application algorithm node using the corresponding control algorithm to obtain the vehicle body lateral and longitudinal control parameters.

[0055] The control algorithm node outputs vehicle lateral and longitudinal control parameters representing specific driving decisions based on the intermediate output values ​​provided by the application algorithm node. In some implementations, driving decisions can also be made based on the intermediate output parameters, combined with the vehicle's own state (such as one or more of current speed, acceleration, and steering angle). For example, acceleration, deceleration, and steering can be performed to ensure safe and efficient driving behavior.

[0056] For example, if the control algorithm determines that there is an obstacle ahead and the distance is decreasing based on the application output values ​​of each application algorithm node, it may output lateral and longitudinal control parameters such as lane changing (lateral turn), deceleration, or stopping, for example, setting the deceleration to -2m / s². 2 .

[0057] In this approach, the computation time for generating the vehicle body lateral and longitudinal control parameters using the control algorithm can be obtained by: obtaining the start timestamp when the control algorithm node starts reading the application output value of the application algorithm node and the end timestamp when the control algorithm node outputs the vehicle body lateral and longitudinal control parameters; and using the duration between the start timestamp and the end timestamp as the computation time for generating the vehicle body lateral and longitudinal control parameters using the control algorithm.

[0058] Considering that application algorithm nodes and control algorithm nodes typically perform calculations periodically—for example, once every preset interval, such as every 10ms, 20ms, or 30ms—it is crucial to ensure that the data used by the control algorithm node during the calculation process is the data output from each application algorithm node within the current period.

[0059] Please see Figure 3 As shown, in one possible implementation, the vehicle's system-on-a-chip is equipped with output flags corresponding to multiple application algorithm nodes, and the method further includes:

[0060] If the application algorithm node is invoked in the current cycle to calculate the application output value by using the corresponding application algorithm on the data collected by the vehicle's sensing device, then step S113 is executed: the application algorithm node is invoked to adjust the value of its corresponding output flag bit from the first value to the second value.

[0061] Wherein, the first value indicates that the application algorithm node did not calculate the application output value in the current period, and the second value indicates that the application algorithm node calculated the application output value in the current period.

[0062] The first value can be -1, 0, or 1, and the second value can be any value different from the first value. For example, in one implementation, the first value is -1 and the second value is 0. That is, when the application algorithm node calculates the application output value, it sets the corresponding flag bit to 0 so that the control algorithm node can determine whether the application algorithm has output the application output value in the current cycle based on the value of the flag bit corresponding to the application algorithm node. If the value of the flag bit is determined to be 0, the application output value is output, and the output value of the application algorithm node can be directly read and used in the calculation of the control algorithm in the current cycle.

[0063] Step S112 above includes: Step S112a: Calling the control algorithm node to determine whether each application algorithm node has calculated the application output value in the current cycle according to the assigned value of the output flag bit corresponding to each application algorithm node; if it is determined that multiple application algorithm nodes have calculated the application output value in the current cycle, then step S112b: Calling the control algorithm node to use the corresponding control algorithm to calculate the application output value of each application algorithm node in the current cycle to obtain the vehicle body lateral and longitudinal control parameters.

[0064] The method also includes step S114: adjusting the flag value corresponding to the application algorithm node from the second value to the first value.

[0065] By adjusting the flag value corresponding to the application algorithm node from the second value to the first value, the control algorithm node can determine which application algorithm nodes have updated their output when the next cycle arrives.

[0066] By employing steps S111-S114 above, at the start of each calculation cycle, the flag bits of all application algorithm nodes are reset to a first value (e.g., -1). This means that these nodes have not yet generated new outputs within the new cycle. When an application algorithm node completes its calculation and generates a new application output value, it sets its flag bit to a second value (e.g., 0), indicating that there has been new output within this cycle. In this way, the control algorithm can determine which nodes' data is up-to-date and valid, ensuring that the control algorithm always makes decisions based on the latest application output value within the current cycle, thus improving the system's real-time performance and accuracy. Subsequently, by checking the flag bits, the control algorithm can quickly determine if any new application output values ​​need to be processed. Once it is found that all related application algorithm nodes have updated their flag bits, the latest data can be used immediately for calculation, without waiting for the entire cycle to end or for other unrelated nodes to complete their calculations, thereby greatly improving response speed.

[0067] In one possible implementation, step S112 further includes: step S112c: if it is determined that among the multiple application algorithm nodes, there is a target application algorithm node that has not calculated an application output value in the current period, the application output value of the target application algorithm node in the current period is obtained according to the application output values ​​of the target application algorithm node in each of the multiple historical periods before the current period.

[0068] Among them, the multiple historical cycles preceding the current cycle are multiple historical cycles within a preset time period before the start of the current cycle.

[0069] The method described above for obtaining the application output value of the target application algorithm node in the current period based on the application output values ​​corresponding to the target application algorithm node in each of the multiple historical periods can be as follows: First, determine the mean or median of the application output values ​​corresponding to the target application algorithm node in each of the multiple historical periods as the application output value of the target application algorithm node in the current period. Second, assign weights to each historical period and sum the application output values ​​corresponding to the target application algorithm node in each of the multiple historical periods to obtain the application output value of the target application algorithm in the current period. The weights of each historical period are negatively correlated with the duration between the start time of the historical period and the start time of the current period.

[0070] In one possible implementation, the method of obtaining the application output value of the target application algorithm node in the current period based on the application output values ​​corresponding to each of the target application algorithm nodes in multiple historical periods can also be achieved by using the least squares method to obtain the application output value of the target application algorithm node in the current period based on the application output values ​​corresponding to each of the target application algorithm nodes in multiple historical periods. The control algorithm node is then invoked to calculate the application output values ​​of each of the application algorithm nodes in the current period using the corresponding control algorithm to obtain the vehicle body's lateral and longitudinal control parameters.

[0071] Specifically, the application output values ​​of the target application algorithm node in multiple historical periods can be arranged in chronological order to form a time series. An error function is defined, such as E(a,b)=∑(y i −(ax i +b))2, where y i This represents the actual output value in the i-th cycle, and x i Let represent the period number or timestamp of the i-th period, and let a and b be the parameters. Using calculus, we differentiate the error function and set the derivative to zero to find the parameters a and b that minimize the error. Once the optimal parameters of the model are determined, they can be used to predict the applied output value for the next period (i.e., the current period). For example, in a linear model, if we obtain a and b, we can use y... current =ax current +b is used to calculate the expected output y for the current period. current , where x current It is the current period number or timestamp.

[0072] By adopting the above method, when the target application algorithm does not output data in the current period, the application output value of the target application algorithm in the current period can be obtained based on the application output values ​​of the target application algorithm in each of the multiple historical periods, so as to make a reasonable prediction and avoid the problem of the overall vehicle performance deterioration due to the failure of a single application algorithm.

[0073] It is worth mentioning that the system-on-a-chip (SoC) runs multiple threads, each corresponding to an application algorithm node, responsible for processing specific types of sensor data or performing specific computational tasks. The SoC also includes threads corresponding to each application algorithm node.

[0074] The timing begins when the control algorithm node determines whether each application algorithm node has calculated the application output value in the current cycle based on the assigned value of the output flag bit corresponding to each application algorithm node.

[0075] If it is determined that among the multiple application algorithm nodes, there is a target application algorithm node that has not calculated the application output value within the current period, step S115: determine whether the timing duration has reached the preset duration.

[0076] If the preset time is not reached, then execute step S116: increase the priority of the thread corresponding to the target application algorithm node, and return to execute step S111: call the application algorithm node to use the corresponding application algorithm to calculate the data collected by the vehicle's sensing device.

[0077] If the preset duration is reached, then step S112c is executed: the step of obtaining the application output value of the target application algorithm node in the current period based on the application output values ​​of the target application algorithm node in each of the previous historical periods.

[0078] By employing steps S115-S116 above, when an application algorithm node is detected to have failed to complete its calculation in a timely manner, its thread priority can be increased, allowing it to acquire the necessary resources more quickly and complete its task as soon as possible. This helps reduce latency and ensures that the vehicle can react to environmental changes immediately. Furthermore, if a thread fails to complete its calculation within a cycle, it will no longer wait after a preset time and will instead make predictions based on historical data. This approach avoids the risk of the entire vehicle's lateral and longitudinal control parameter calculations stalling due to a single application algorithm node's lag, enhancing the vehicle's robustness and stability.

[0079] Step S120: Based on the current vehicle speed and the calculation time, determine the first transmission method of the system-on-a-chip for the lateral and longitudinal control parameters of the vehicle body.

[0080] In one possible implementation, the first transmission method may include an event-based transmission method or a periodic transmission method.

[0081] In one possible implementation, step S120 includes: obtaining a vehicle speed score based on the current vehicle speed, and obtaining a time consumption score based on the calculation time, wherein the current vehicle speed is positively correlated with the vehicle speed score, and the calculation time is positively correlated with the time consumption score; weighting the vehicle speed score and the time consumption score to obtain a rating score; if the rating score is greater than a preset score, then the first transmission mode of the system-on-a-chip for the lateral and longitudinal control parameters of the vehicle body is determined to be an event-based transmission mode; if the rating score is not greater than a preset score, then the first transmission mode of the system-on-a-chip for the lateral and longitudinal control parameters of the vehicle body is determined to be a periodic transmission mode.

[0082] For example, if the current vehicle speed is 100 km / h, the corresponding score is 10 points. If the calculation time is 5 milliseconds, the corresponding calculation time score is 5 points. When the weighted sum of the vehicle speed score and the calculation time score reaches 6 points, the event-based transmission method is used. If it does not reach 6 points, the periodic transmission method is used.

[0083] In another possible implementation, step S120 includes: determining whether the current vehicle speed is greater than a preset vehicle speed threshold, and determining whether the calculation time is greater than a preset time threshold; if the current vehicle speed is greater than the preset vehicle speed threshold or the calculation time is greater than the preset time threshold, determining that the first transmission mode of the system-on-a-chip for the lateral and longitudinal control parameters of the vehicle body is an event-type transmission mode; if the current vehicle speed is not greater than the preset vehicle speed threshold and the calculation time is not greater than a preset calculation duration threshold, determining that the first transmission mode of the system-on-a-chip for the lateral and longitudinal control parameters of the vehicle body is a periodic transmission mode.

[0084] The preset vehicle speed threshold can be 60 km / h, 80 km / h, or 90 km / h, etc., which can be set according to actual needs. The preset time threshold can be 5 ms, 6 ms, or 8 ms, etc., which can be set according to actual needs.

[0085] For example, it can be determined whether the current vehicle speed is greater than 60 km / h and whether the calculation time is greater than 5 ms. If the vehicle speed is greater than 60 km / h or the calculation time is greater than 5 ms, then the first transmission method is the event-based transmission method.

[0086] If the first transmission method is an event-based transmission method, then step S130 is executed: the data packet including the vehicle body lateral and longitudinal control parameters is transmitted to the vehicle's main controller using the event-based transmission method, so that the vehicle's main controller sends the data packet to the vehicle's lateral and longitudinal control components.

[0087] Specifically, in the event-based transmission method, the data packet containing the vehicle's lateral and longitudinal control parameters is transmitted to the vehicle's main controller. This means that triggering conditions are defined based on vehicle speed and calculation time. When the triggering conditions are met based on the current vehicle speed and calculation time, the event-based transmission method is adopted. In the event-based transmission method, the vehicle's lateral and longitudinal control parameters and some related data (such as event type, timestamp of generating the vehicle's lateral and longitudinal control parameters, priority identifier indicating that the current data needs to be sent first) are immediately packaged into a data packet, and the data packet is sent to the vehicle's main controller through an appropriate communication protocol (such as CAN bus, Ethernet, etc.).

[0088] In one possible implementation, the system-on-a-chip (SoC) further includes signal forwarding nodes. The data transmission protocol between the nodes in the SoC is a first protocol, and the data transmission protocol between the SoC and the main controller is a second protocol. The first protocol can be a bus protocol, a serial communication protocol, or an internally defined protocol, such as the DDS protocol (Data Distribution Service). The second protocol can be the CAN protocol (Controller Area Network), Ethernet protocol, IPC protocol (Inter-Process Communication), SOMEIP protocol (Scalable Service-Oriented Middleware over IP), or SPI protocol (Serial Peripheral Interface), etc.

[0089] Please see Figure 4 As shown, step S130 above includes:

[0090] Step S132: The control algorithm node is invoked to transmit the data packet including the vehicle body lateral and longitudinal control parameters to the signal forwarding node using an event-based transmission method.

[0091] Step S134: Call the signal forwarding node to convert the transmission protocol of the data packet from the first protocol to the second protocol, obtain the protocol-converted data packet, and send the protocol-converted data packet to the main controller using an event-type transmission method.

[0092] It is worth mentioning that when the signal forwarding node determines that the data packet is transmitted by the control algorithm node using an event-based transmission method, such as when it determines that the data packet carries a priority processing identifier or event type, it can send the protocol-converted data packet to the main controller using an event-based transmission method.

[0093] It should be understood that if the first transmission method is a periodic transmission method, then the data packet including the vehicle body lateral and longitudinal control parameters is transmitted to the vehicle's main controller in a periodic transmission method, so that the vehicle's main controller sends the data packet to the vehicle's lateral and longitudinal control components.

[0094] By adopting the above implementation method, the most suitable data transmission method can be selected based on the vehicle's current speed and the calculation time of the vehicle's lateral and longitudinal control parameters. That is, in the case of high vehicle speed or long calculation time, the event-type transmission method is used to transmit the vehicle's lateral and longitudinal control parameters, which reduces the time delay from the generation of lateral and longitudinal control parameters to the sending of control commands to the lateral and longitudinal control components. This effectively reduces the spatial distance delay of the corresponding control components to perform lateral and longitudinal control based on the vehicle's lateral and longitudinal control parameters, thereby reducing the vehicle driving risk.

[0095] At low vehicle speeds and with short calculation times, the vehicle's lateral and longitudinal control parameters are transmitted to the main controller using a periodic transmission method.

[0096] In other words, the vehicle control signal transmission method provided in this application can transmit the vehicle's lateral and longitudinal control parameters to the main controller in a timely manner when the vehicle speed is high and the generation process takes too long, while saving resources and improving overall performance under normal circumstances.

[0097] To further reduce driving risks, in one possible implementation, a priority processing identifier is added to the data packet including the vehicle's lateral and longitudinal control parameters, so that when the vehicle's main controller receives the data packet, it sends the data packet to the vehicle's lateral and longitudinal control components via the CAN bus using an interrupt-triggered method based on the priority processing identifier.

[0098] By adopting the above settings, when the vehicle's main controller receives a data packet with a priority processing identifier, it immediately interrupts the current task execution process and prioritizes processing this high-priority data packet. This means that critical control commands can be transmitted to the lateral and longitudinal control components in the shortest possible time, reducing latency. Consequently, in safety-related events (such as emergency braking and obstacle avoidance maneuvers), the latest control parameters can be quickly communicated to the actuators, improving the vehicle's responsiveness to emergencies and reducing the risk of accidents.

[0099] Please see Figure 5 As shown, this embodiment provides a vehicle control signal transmission method, applied to the vehicle's main controller, the method comprising:

[0100] Step S210: Receive a data packet containing vehicle body lateral and longitudinal control parameters sent by the system-on-a-chip of the vehicle. The vehicle body lateral and longitudinal control parameters are generated by the main controller using a control algorithm. The data packet carries a timestamp when the main controller generates the vehicle body lateral and longitudinal control parameters using the control algorithm.

[0101] For a detailed description of the vehicle body lateral and longitudinal control parameters and data packets, please refer to the detailed description of the foregoing embodiments, which will not be repeated here.

[0102] Step S220: Determine the second transmission mode of the data packet by the main controller based on the reception time of the data packet, the timestamp, and whether the data packet carries a priority processing identifier.

[0103] The second transmission method may include an interrupt-triggered transmission method or a periodic transmission method.

[0104] In one possible implementation, step S220 includes: determining whether the duration between the receiving time and the timestamp exceeds a preset duration, and determining whether the data packet carries a priority processing identifier.

[0105] If the preset duration is exceeded or a priority processing identifier is carried, the second transmission mode of the data packet by the main controller is determined to be an interrupt-triggered transmission mode. If the preset duration is not exceeded and no priority processing identifier is carried, the second transmission mode of the data packet by the main controller is determined to be a periodic transmission mode.

[0106] Step S230: If the second transmission method is an interrupt-triggered method, the data packet is sent to the vehicle's lateral and longitudinal control components using the interrupt-triggered transmission method.

[0107] Interrupt-Driven Transmission is a data transmission mechanism that allows the system to process tasks immediately upon the occurrence of a specific event, rather than relying on fixed periodic checks. If the main controller detects that the time between the received time and the timestamp exceeds a preset duration, or if the data packet carries a priority processing flag, the main controller stops executing the current task and executes an interrupt service routine to parse the data packet, extract the latest lateral and longitudinal control parameters, and send them to the lateral and longitudinal control components via the CAN bus or other communication protocols. Upon receiving the instructions, the lateral and longitudinal control components immediately execute corresponding actions, such as adjusting the steering angle to avoid obstacles or slowing down to avoid rear-end collisions.

[0108] By adopting the above method, the main controller can immediately interrupt the current task and send the data packet first when it receives a data packet with a priority processing identifier or when it finds that the time between the reception time of the data packet and its timestamp exceeds a preset threshold (i.e., the transmission time is too long). This improves the system's response speed and reliability, and also effectively reduces driving risks.

[0109] It is worth mentioning that when the controller receives a data packet containing lateral and longitudinal control parameters of the vehicle body sent by the system-on-a-chip of the vehicle, it can also perform control arbitration to determine whether the data packet needs to be sent to the lateral and longitudinal control components to guide the EPS (electric power steering), VCU (vehicle control unit), ESP (electronic stability program) and other related components to complete real-time vehicle control.

[0110] like Figure 6 As shown, taking a vehicle's system-on-a-chip as an example, which deploys control algorithm nodes, signal forwarding nodes, and multiple application algorithm nodes, the multiple application algorithm nodes are used to receive the perception data collected by the vehicle's perception devices and perform tasks such as prediction, decision-making, and planning. After the control node obtains the vehicle's lateral and longitudinal data based on the output of each application node, the signal forwarding node converts the data packets containing the vehicle's lateral and longitudinal data into protocols and sends them to the main controller. The main controller then performs control arbitration to determine whether the data packets need to be sent to the lateral and longitudinal control components, such as EPS (Electric Power Steering), VCU (Vehicle Controller Unit), and ESP (Electronic Stability Program).

[0111] Specifically, such as Figure 7 As shown, taking multiple application algorithm nodes, including app1, app2, app3, and app4, as an example, the application algorithm nodes act as upstream nodes of the control algorithm nodes. The Linux system in the system-on-a-chip (SoC) runs the threads corresponding to each node (including application algorithm nodes and control algorithm nodes) in parallel to execute the corresponding algorithms. Initially, the threads corresponding to each node have the same priority. Here, input1-4 represent the input parameters required by the control algorithm nodes, which are the application output values ​​of each application algorithm node. For example, the application output value of the appK algorithm node is inputK, where K is an integer between 1 and 4. Flag1-4 represent the flag values ​​corresponding to each application algorithm node; the flag of the appK algorithm node is FlagK.

[0112] Please refer to the following: Figure 8When the system-on-a-chip (SoC) is invoked to generate the vehicle's lateral and longitudinal control parameters, FlagX is first initialized. The FlagX flags (Flag1, Flag2, Flag3, Flag4) used to indicate whether key input data has been updated are set to a default value of -1. Since all processes have the same priority by default, the operating system in the SOC calls each application algorithm node and control algorithm node in parallel to execute their respective tasks. Specifically, when an application algorithm node executes its corresponding application algorithm, if it outputs an application output value, its corresponding flag is set to 0. When a control algorithm node executes its corresponding control algorithm, it first determines whether each application algorithm node outputs an application output value based on the flag values ​​of each application algorithm node. Simultaneously, it calls the counter_timer to start timing to prevent excessive waiting from affecting the output of the vehicle's lateral and longitudinal control parameters. When the flag value of an application algorithm node is 0, it indicates that the application output value of the application algorithm node has been updated within the current cycle. If it is determined that the FlagX value of an appX algorithm node is -1, it indicates that the appX algorithm node has not completed its calculation. At this time, it is checked whether the timer's duration has reached the preset duration. If it has not, the timer is activated. If a preset duration is set, the priority of the thread corresponding to the appX algorithm node needs to be increased so that the appX algorithm node can use the corresponding application algorithm to calculate the data collected by the vehicle's sensing devices. This allows the subsequent control algorithm node to determine whether the appX algorithm node should output an application output value based on the value of the flag bit of the appX algorithm node. If it does output an application output value, the control algorithm node is called to use the corresponding control algorithm to calculate the application output values ​​of each application algorithm node to obtain the vehicle's lateral and longitudinal control parameters. If the timer duration reaches the preset duration, the application output values ​​of the appX algorithm node in the five most recent historical periods before the current period are calculated using the least squares method to obtain the application output value of the target application algorithm node in the current period.

[0113] After obtaining the application output values ​​of each application algorithm node in the current cycle, the control algorithm node is called to use the control algorithm to obtain the vehicle body's lateral and longitudinal control parameters based on the application output values ​​of each application algorithm node in the current cycle.

[0114] Subsequently, the flag value corresponding to each application algorithm node can be adjusted from 0 to -1.

[0115] Please refer to the following: Figure 9When the control parameter node calculates the lateral and longitudinal control parameter values ​​of the vehicle body, it can obtain the calculation time (time_consum) based on the start timestamp of the timer and the timestamp when the lateral and longitudinal control parameters of the vehicle body are output. It then checks whether the calculation time (time_consum) is greater than 5ms and whether the current vehicle speed is greater than 60km / h. If the calculation time (time_consum) > 5ms indicates a high calculation time, or if the current vehicle speed > 60km / h indicates a high current vehicle speed, the obtained lateral and longitudinal control parameters can be changed from the conventional periodic transmission method to an event-based transmission method. The data packet containing the lateral and longitudinal control parameters is then added with a priority flag (Prority_Flag) and the timestamp when the control algorithm node outputs the lateral and longitudinal control parameters. The data packet is then transmitted to the signal forwarding node using the event-based transmission method. The signal forwarding node, upon determining that the data packet contains the priority flag, also sends the data packet to the main controller using the event-based transmission method.

[0116] If it is determined that time_consum is not greater than 5ms and the current vehicle speed is not greater than 60km / h, then a data packet including the vehicle's lateral and longitudinal control parameters is sent to the signal forwarding node in a periodic transmission mode. The data packet carries the timestamp of when the control algorithm node outputs the vehicle's lateral and longitudinal control parameters. When the signal forwarding node receives the data packet, it converts the transmission protocol of the data packet from the first protocol to the second protocol to obtain the protocol-converted data packet, and sends the protocol-converted data packet to the main controller in a periodic transmission mode to reduce resource consumption.

[0117] It is worth mentioning that when it is determined that data transmission can be performed using a periodic transmission method, if the control algorithm node runs a cycle of 20ms, even if the calculation function is completed within 1ms and the vehicle body's lateral and longitudinal control parameters are calculated, it may wait until the 20ms to send the data downstream in order to reduce CPU resource consumption.

[0118] When the main controller receives a data packet, it determines whether the packet carries a priority processing identifier and whether the difference between the time the main controller receives the data packet and the timestamp in the data packet (dif_timeStamp) is greater than 10ms. If so, it uses an interrupt to arbitrate the vehicle's lateral and longitudinal control parameters in the data packet and uses an interrupt-triggered method to accelerate the transmission to the vehicle's lateral and longitudinal control components, achieving efficient vehicle control. If there is no priority processing identifier, or the difference between the time the main controller receives the data packet and the timestamp in the data packet (dif_timeStamp) is not greater than 10ms, the main controller maintains its original cycle (e.g., every 20ms) to execute the corresponding arbitration forwarding task to send the data packet to the vehicle's lateral and longitudinal control components, reducing system resource consumption at the MCU end.

[0119] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0120] Please see Figure 10 Another embodiment of this application provides a vehicle control signal transmission device 300, applied to a vehicle system-on-a-chip (SoC). The vehicle control signal transmission device 300 includes: a data acquisition module 310, used to acquire vehicle body lateral and longitudinal control parameters, the calculation time for generating the vehicle body lateral and longitudinal control parameters using a control algorithm, and the current vehicle speed; a first transmission mode determination module 320, used to determine a first transmission mode of the SoC for the vehicle body lateral and longitudinal control parameters based on the current vehicle speed and the calculation time; and a first data transmission module 330, used to transmit a data packet including the vehicle body lateral and longitudinal control parameters to the vehicle's main controller using an event-type transmission mode when the first transmission mode is an event-type transmission mode, so that the vehicle's main controller sends the data packet to the vehicle's lateral and longitudinal control components.

[0121] In one possible implementation, the system-on-a-chip is equipped with a control algorithm node and at least one application algorithm node. The data acquisition module 310 is further configured to call the application algorithm node to perform calculations on the data collected by the vehicle's sensing devices using the corresponding application algorithm to obtain application output values; and to call the control algorithm node to perform calculations on the application output values ​​of each application algorithm node using the corresponding control algorithm to obtain the vehicle's lateral and longitudinal control parameters.

[0122] In one possible implementation, the vehicle's system-on-a-chip (SoC) is equipped with output flag bits corresponding to multiple application algorithm nodes. The vehicle control signal transmission device 300 further includes an adjustment module, configured to, within the current cycle, call the application algorithm node to calculate the application output value from the data collected by the vehicle's sensing devices using the corresponding application algorithm, and then call the application algorithm node to adjust the value of its corresponding output flag bit from a first value to a second value. The first value indicates that the application algorithm node did not calculate the application output value within the current cycle. The data acquisition module is further configured to call the control algorithm node according to the corresponding values ​​of each application algorithm node. The value adjustment module is used to assign a value to the output flag bit to determine whether each application algorithm node has calculated an application output value in the current cycle. If it is determined that multiple application algorithm nodes have calculated application output values ​​in the current cycle, the control algorithm node is called to use the corresponding control algorithm to calculate the application output values ​​of each application algorithm node in the current cycle to obtain the vehicle body lateral and longitudinal control parameters. The value adjustment module is also used to adjust the flag bit value corresponding to the application algorithm node from the second value to the first value after calling the control algorithm node to use the corresponding control algorithm to calculate the application output values ​​of each application algorithm node to obtain the vehicle body lateral and longitudinal control parameters.

[0123] In one possible implementation, the data acquisition module 310 is further configured to: determine that among the multiple application algorithm nodes, there is a target application algorithm node that has not calculated an application output value in the current cycle; obtain the application output value of the target application algorithm node in the current cycle based on the application output values ​​of the target application algorithm node in each of the multiple historical cycles prior to the current cycle; and call the control algorithm node to use the corresponding control algorithm to calculate the application output value of each application algorithm node in the current cycle to obtain the vehicle body lateral and longitudinal control parameters.

[0124] In one possible implementation, the system-on-a-chip runs threads corresponding to each of the application algorithm nodes. The vehicle control signal transmission device 300 further includes a timing module, a timing duration judgment module, and a priority boosting module. The timing module is used to call the control algorithm node to determine whether each application algorithm node has calculated an application output value in the current period based on the assigned value of the output flag bit corresponding to each application algorithm node, and then start timing. The timing duration judgment module is used to determine whether a target application algorithm node has not calculated an application output value in the current period among multiple application algorithm nodes, and whether the timing duration has reached a preset duration. The priority boosting module is used to boost the priority of the thread corresponding to the target application algorithm node if the preset duration has not been reached.

[0125] In one possible implementation, the system-on-a-chip (SoC) further includes a signal forwarding node. The data transmission protocol between the nodes in the SoC is a first protocol, and the data transmission protocol between the SoC and the main controller is a second protocol. The first data transmission module 330 is further configured to call the control algorithm node to transmit a data packet including the vehicle body's lateral and longitudinal control parameters to the signal forwarding node using an event-based transmission method; call the signal forwarding node to convert the data packet's transmission protocol from the first protocol to the second protocol to obtain a protocol-converted data packet, and send the protocol-converted data packet to the main controller using an event-based transmission method.

[0126] In one possible implementation, the vehicle control signal transmission device 300 further includes: an identifier adding module, used to add a priority processing identifier to the data packet including the vehicle body lateral and longitudinal control parameters, so that when the vehicle's main controller receives the data packet, it sends the data packet to the vehicle's lateral and longitudinal control components via the CAN bus based on the priority processing identifier using an interrupt triggering method.

[0127] In one possible implementation, the first transmission mode determination module 320 is further configured to determine whether the current vehicle speed is greater than a preset vehicle speed threshold, and whether the calculation time is greater than a preset calculation duration threshold; if the current vehicle speed is greater than the preset vehicle speed threshold or the calculation time is greater than the preset calculation duration threshold, the system-on-a-chip is determined to transmit the first transmission mode of the vehicle body lateral and longitudinal control parameters as an event-type transmission mode; if the current vehicle speed is not greater than the preset vehicle speed threshold and the calculation time is not greater than the preset calculation duration threshold, the system-on-a-chip is determined to transmit the first transmission mode of the vehicle body lateral and longitudinal control parameters as a periodic transmission mode.

[0128] Please see Figure 11 As shown, this application embodiment provides a vehicle control signal transmission device 400, applied to the main controller of a vehicle. The vehicle control signal transmission device 400 includes: a data receiving module 410, used to receive data packets including body lateral and longitudinal control parameters sent by the system-on-a-chip of the vehicle, wherein the body lateral and longitudinal control parameters are generated by the main controller using a control algorithm, and the data packet carries a timestamp when the main controller generates the body lateral and longitudinal control parameters using the control algorithm; a second transmission mode determination module 420, used to determine a second transmission mode of the main controller for the data packet based on the reception time of the data packet, the timestamp, and whether the data packet carries a priority processing identifier; and a second data transmission module 430, used to send the data packet to the vehicle's lateral and longitudinal control components using an interrupt-triggered transmission mode when the second transmission mode is an interrupt-triggered mode.

[0129] In one possible implementation, the second transmission mode determination module 420 is further configured to determine whether the duration between the receiving time and the timestamp exceeds a preset duration, and to determine whether the data packet carries a priority processing identifier; if it exceeds the preset duration or carries a priority processing identifier, the second transmission mode of the main controller for the data packet is determined to be an interrupt-triggered transmission mode; if it does not exceed the preset duration and does not carry a priority processing identifier, the second transmission mode of the main controller for the data packet is determined to be a periodic transmission mode.

[0130] Each module in the above-described device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module. It should be noted that the device embodiments in this application correspond to the foregoing method embodiments. The specific principles of the device embodiments can be found in the foregoing method embodiments, and will not be repeated here.

[0131] The following will combine Figure 12 This application describes an electronic device.

[0132] Please see Figure 12 Based on the vehicle control signal transmission method provided in the above embodiments, this application also provides another electronic device 100 including a processor 102 capable of executing the aforementioned method, which can be a vehicle.

[0133] The electronic device 100 also includes a memory 104. The memory 104 stores a program that can execute the contents of the foregoing embodiments, and the processor 102 can execute the program stored in the memory 104.

[0134] The processor 102 may include one or more cores for data processing and message matrix units. The processor 102 connects to various parts within the electronic device 100 using various interfaces and lines, and performs various functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 104, and by calling data stored in the memory 104. Optionally, the processor 102 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 102 may integrate one or more of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the displayed content; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor 102 and may be implemented separately using a communication chip.

[0135] In this embodiment, the processor 102 includes a main controller and a system-on-a-chip to implement the aforementioned method steps.

[0136] The memory 104 may include random access memory (RAM) or read-only memory (ROM). The memory 104 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 104 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for implementing at least one function, instructions for implementing the various method embodiments described below, etc. The data storage area may also store data acquired by the electronic device 100 during use.

[0137] The electronic device 100 may also include a network module and a screen. The network module is used to receive and transmit electromagnetic waves, converting electromagnetic waves into electrical signals, thereby enabling communication with communication networks or other devices, such as audio playback devices. The network module may include various existing circuit elements used to perform these functions, such as antennas, radio frequency transceivers, digital signal processors, encryption / decryption chips, SIM cards, memory, etc. The network module can communicate with various networks such as the Internet, corporate intranets, and wireless networks, or communicate with other devices via wireless networks. The aforementioned wireless networks may include cellular telephone networks, wireless local area networks, or metropolitan area networks. The screen can display interface content and perform data interaction, such as displaying the aforementioned interface and triggering operations through the screen.

[0138] In some embodiments, the electronic device 100 may further include a peripheral interface 106 and at least one peripheral device. The processor 102, memory 104, and peripheral interface 106 can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral interface via a bus, signal line, or circuit board. Specifically, the peripheral device includes at least one of the following: a radio frequency component 108, a positioning component 112, a camera 114, an audio component 116, a display screen 118, and a power supply 122.

[0139] Peripheral interface 106 can be used to connect at least one I / O (Input / Output) related peripheral device to processor 102 and memory 104. In some embodiments, processor 102, memory 104 and peripheral interface 106 are integrated on the same chip or circuit board; in some other embodiments, any one or two of processor 102, memory 104 and peripheral interface 106 can be implemented on separate chips or circuit boards, and this application embodiment does not limit this.

[0140] The radio frequency (RF) component 108 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The RF component 108 communicates with communication networks and other communication devices via electromagnetic signals. The RF component 108 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals back into electrical signals. Optionally, the RF component 108 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, etc. The RF component 108 can communicate with other terminals via at least one wireless communication protocol. This wireless communication protocol includes, but is not limited to: the World Wide Web, metropolitan area networks, intranets, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and / or WiFi (Wireless Fidelity) networks. In some embodiments, the RF component 108 may also include circuitry related to NFC (Near Field Communication), which is not limited in this application.

[0141] Positioning component 112 is used to locate the current geographic location of an electronic device to enable navigation or LBS (Location Based Service). Positioning component 112 can be a positioning component based on the US GPS (Global Positioning System), BeiDou system, or Galileo system.

[0142] Camera 114 is used to capture images or videos. Optionally, camera 114 includes a front-facing camera and a rear-facing camera. Typically, the front-facing camera is located on the front panel of the electronic device 100, and the rear-facing camera is located on the back of the electronic device 100. In some embodiments, there are at least two rear-facing cameras, which are any one of a main camera, a depth-sensing camera, a wide-angle camera, and a telephoto camera, to achieve background blurring by fusion of the main camera and the depth-sensing camera, panoramic shooting by fusion of the main camera and the wide-angle camera, VR (Virtual Reality) shooting, or other fusion shooting functions. In some embodiments, camera 114 may also include a flash. The flash can be a single-color temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm light flash and a cool light flash, which can be used for light compensation at different color temperatures.

[0143] Audio component 116 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and environment, converting them into electrical signals that are input to processor 102 for processing, or input to radio frequency component 108 for voice communication. For stereo sound acquisition or noise reduction purposes, multiple microphones may be used, each located at a different part of the electronic device 100. The microphone may also be an array microphone or an omnidirectional microphone. The speaker is used to convert electrical signals from processor 102 or radio frequency component 108 into sound waves. The speaker may be a conventional film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can convert electrical signals not only into audible sound waves but also into inaudible sound waves for purposes such as distance measurement. In some embodiments, audio component 116 may also include a headphone jack.

[0144] Display screen 118 is used to display a UI (User Interface). This UI may include graphics, text, icons, videos, and any combination thereof. When display screen 118 is a touch display screen, it also has the ability to collect touch signals on or above its surface. These touch signals can be input as control signals to processor 102 for processing. In this case, display screen 118 can also be used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments, there may be one display screen 118, which serves as the front panel of electronic device 100; in other embodiments, there may be at least two display screens, respectively disposed on different surfaces of electronic device 100 or in a folded design; in still other embodiments, display screen 118 may be a flexible display screen, disposed on a curved or folded surface of electronic device 100. Furthermore, display screen 118 may be configured as a non-rectangular irregular shape, i.e., a non-rectangular screen. Display screen 118 may be made of materials such as LCD (Liquid Crystal Display) or OLED (Organic Light-Emitting Diode).

[0145] Power supply 122 is used to supply power to various components in electronic device 100. Power supply 122 can be alternating current, direct current, a disposable battery, or a rechargeable battery. When power supply 122 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery that is charged via a wired line, while a wireless rechargeable battery is a battery that is charged via a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0146] This application also provides a structural block diagram of a computer-readable storage medium. The computer-readable medium stores program code, which can be called by a processor to execute the methods described in the above method embodiments.

[0147] Computer-readable storage media can be electronic storage devices such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or ROM. Optionally, computer-readable storage media includes non-transitory computer-readable storage medium. The computer-readable storage medium has storage space for program code that performs any of the method steps described above. This program code can be read from or written to one or more computer program products. The program code can be compressed, for example, in a suitable form.

[0148] This application also provides a computer program product or computer program that includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the methods described in the various optional implementations above.

[0149] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A vehicle control signal transmission method, characterized by, A system-on-chip applied to a vehicle, the method comprising: obtaining a vehicle body lateral and longitudinal control parameter, a calculation time consumption of generating the vehicle body lateral and longitudinal control parameter by a control algorithm, and a current vehicle speed of the vehicle; determining a first transmission mode of the system-on-chip to the vehicle body lateral and longitudinal control parameter according to the current vehicle speed and the calculation time consumption; the determining the first transmission mode of the system-on-chip to the vehicle body lateral and longitudinal control parameter according to the current vehicle speed and the calculation time consumption comprises: determining whether the current vehicle speed is greater than a preset vehicle speed threshold and determining whether the calculation time consumption is greater than a preset calculation time threshold; if the current vehicle speed is greater than the preset vehicle speed threshold or the calculation time consumption is greater than the preset calculation time threshold, determining that the first transmission mode of the system-on-chip to the vehicle body lateral and longitudinal control parameter is an event type transmission mode; if the first transmission mode is the event type transmission mode, transmitting a data packet comprising the vehicle body lateral and longitudinal control parameter to a main controller of the vehicle by the event type transmission mode, so that the main controller of the vehicle sends the data packet to a lateral and longitudinal control component of the vehicle.

2. The method of claim 1, wherein, The system-on-chip is deployed with a control algorithm node and at least one application algorithm node, and the obtaining the vehicle body lateral and longitudinal control parameter comprises: calling the application algorithm node to calculate data collected by a sensing device of the vehicle by a corresponding application algorithm to obtain an application output value; calling the control algorithm node to calculate the application output value of each application algorithm node by a corresponding control algorithm to obtain the vehicle body lateral and longitudinal control parameter.

3. The method of claim 2, wherein, The system-on-chip of the vehicle is deployed with output flag bits corresponding to a plurality of application algorithm nodes, and the method further comprises: if the application algorithm node obtains the application output value by the corresponding application algorithm in the current period, calling the application algorithm node to adjust the value of the output flag bit corresponding to the application algorithm node from a first value to a second value, the first value representing that the application algorithm node does not obtain the application output value in the current period, and the second value representing that the application algorithm node obtains the application output value in the current period; the calling the control algorithm node to calculate the application output value of each application algorithm node by the corresponding control algorithm to obtain the vehicle body lateral and longitudinal control parameter comprises: calling the control algorithm node to determine whether each application algorithm node obtains the application output value in the current period according to the assignment of the output flag bit corresponding to each application algorithm node; if it is determined that a plurality of application algorithm nodes obtain the application output value in the current period, calling the control algorithm node to calculate the application output value of each application algorithm node in the current period by the corresponding control algorithm to obtain the vehicle body lateral and longitudinal control parameter; after the calling the control algorithm node to calculate the application output value of each application algorithm node by the corresponding control algorithm to obtain the vehicle body lateral and longitudinal control parameter, the method further comprises: adjusting the value of the flag bit corresponding to the application algorithm node from the second value to the first value.

4. The method of claim 3, wherein, The calling the control algorithm node adopts a corresponding control algorithm to calculate the application output value of each application algorithm node to obtain a vehicle body transverse and longitudinal control parameter, and further comprises: If it is determined that there is a target application algorithm node in the plurality of application algorithm nodes that does not calculate an application output value in the current period, the application output value of the target application algorithm node in the current period is obtained according to the application output value corresponding to each of a plurality of historical periods before the current period of the target application algorithm node.

5. The method of claim 4, wherein, The system-level chip runs a thread corresponding to each of the application algorithm nodes, and the method further comprises: Timing starts when the calling the control algorithm node determines whether each of the application algorithm nodes calculates an application output value in the current period according to the assignment of the output flag bit corresponding to each of the application algorithm nodes; If it is determined that there is a target application algorithm node in the plurality of application algorithm nodes that does not calculate an application output value in the current period, it is determined whether the timing duration reaches a preset duration; If the preset duration is not reached, the priority of the thread corresponding to the target application algorithm node is raised, and the step of calling the application algorithm node to calculate the data collected by the perception device of the vehicle using a corresponding application algorithm is executed again; If the preset duration is reached, the step of obtaining the application output value of the target application algorithm node in the current period according to the application output value corresponding to each of a plurality of historical periods before the current period of the target application algorithm node is executed.

6. The method of claim 2, wherein, The system-level chip further deploys a signal forwarding node, the data transmission protocol between each node in the system-level chip is a first protocol, and the data transmission protocol between the system-level chip and the main controller is a second protocol; The data packet including the vehicle body transverse and longitudinal control parameter is transmitted to the main controller of the vehicle by using the event-type transmission mode, which comprises: The control algorithm node is called to transmit the data packet including the vehicle body transverse and longitudinal control parameter to the signal forwarding node by using the event-type transmission mode; The signal forwarding node is called to convert the transmission protocol of the data packet from the first protocol to the second protocol to obtain a protocol-converted data packet, and the protocol-converted data packet is sent to the main controller by using the event-type transmission mode.

7. The method of claim 1, wherein, Before the vehicle body transverse and longitudinal control parameter is transmitted to the main controller of the vehicle by using the event-type transmission mode, the method further comprises: A priority processing identifier is added to the data packet including the vehicle body transverse and longitudinal control parameter, so that when the main controller of the vehicle receives the data packet, the main controller of the vehicle sends the data packet to the transverse and longitudinal control component of the vehicle through the CAN bus based on the priority processing identifier by using the interrupt triggering mode.

8. The method according to any one of claims 1 to 7, characterized in that, The first transmission mode of the system-level chip for the vehicle body transverse and longitudinal control parameter is determined according to the current vehicle speed and the calculation time consumption, which comprises: If the current vehicle speed is not greater than a preset vehicle speed threshold and the calculation time consumption is not greater than a preset calculation duration threshold, it is determined that the first transmission mode of the system-level chip for the vehicle body transverse and longitudinal control parameter is a periodic transmission mode.

9. A vehicle control signal transmission method, characterized by, The method applied to the main controller of the vehicle comprises: receiving a data packet including a vehicle body lateral and longitudinal control parameter sent by a system-level chip of the vehicle, the vehicle body lateral and longitudinal control parameter being generated by the main controller using a control algorithm, and the data packet carrying a time stamp when the vehicle body lateral and longitudinal control parameter is generated by the main controller using the control algorithm; the data packet is transmitted by the system-level chip in an event transmission mode when it is determined that a first transmission mode of a vehicle body longitudinal control parameter is the event transmission mode, wherein it is determined whether a current vehicle speed is greater than a preset vehicle speed threshold and whether a calculation time consumption is greater than a preset calculation time threshold; if the current vehicle speed is greater than the preset vehicle speed threshold or the calculation time consumption is greater than the preset calculation time threshold, it is determined that the first transmission mode of the system-level chip for the vehicle body lateral and longitudinal control parameter is the event transmission mode; determining a second transmission mode of the main controller for the data packet according to a receiving time of the data packet, the time stamp, and whether the data packet carries a priority processing identifier; if the second transmission mode is an interrupt triggering mode, transmitting the data packet to a lateral and longitudinal control component of the vehicle in an interrupt triggering transmission mode.

10. The method of claim 9, wherein, The determination of the second transmission mode of the main controller for the data packet according to the receiving time of the data packet, the time stamp, and whether the data packet carries the priority processing identifier includes: determining whether a time length between the receiving time and the time stamp exceeds a preset time length, and determining whether the data packet carries the priority processing identifier; if the preset time length is exceeded or the priority processing identifier is carried, it is determined that the second transmission mode of the main controller for the data packet is the interrupt triggering transmission mode; if the preset time length is not exceeded and the priority processing identifier is not carried, it is determined that the second transmission mode of the main controller for the data packet is a periodic transmission mode.

11. A vehicle control signal transmission apparatus characterized by comprising: A system-level chip applied to a vehicle, the apparatus comprising: a data acquisition module configured to acquire a vehicle body lateral and longitudinal control parameter, a calculation time consumption of generating the vehicle body lateral and longitudinal control parameter using a control algorithm, and a current vehicle speed of the vehicle; a first transmission mode determination module configured to determine a first transmission mode of the system-level chip for the vehicle body lateral and longitudinal control parameter according to the current vehicle speed and the calculation time consumption; the determination of the first transmission mode of the system-level chip for the vehicle body lateral and longitudinal control parameter according to the current vehicle speed and the calculation time consumption includes: determining whether the current vehicle speed is greater than a preset vehicle speed threshold and determining whether the calculation time consumption is greater than a preset calculation time threshold; if the current vehicle speed is greater than the preset vehicle speed threshold or the calculation time consumption is greater than the preset calculation time threshold, it is determined that the first transmission mode of the system-level chip for the vehicle body lateral and longitudinal control parameter is an event transmission mode; a first data transmission module configured to transmit a data packet including the vehicle body lateral and longitudinal control parameter to a main controller of the vehicle in the event transmission mode when the first transmission mode is the event transmission mode, so that the main controller of the vehicle transmits the data packet to a lateral and longitudinal control component of the vehicle.

12. A vehicle control signal transmission apparatus characterized by comprising: A main controller applied to a vehicle, the apparatus comprising: The data receiving module is configured to receive a data packet including a body lateral and longitudinal control parameter transmitted by a system-level chip of the vehicle, the body lateral and longitudinal control parameter being generated by the main controller using a control algorithm, and the data packet carrying a timestamp when the main controller generates the body lateral and longitudinal control parameter using the control algorithm; the data packet is transmitted by the system-level chip using an event-type transmission mode when it is determined that a first transmission mode for a body longitudinal control parameter is the event-type transmission mode, wherein it is determined whether a current vehicle speed is greater than a preset vehicle speed threshold and whether a calculation time consumption is greater than a preset calculation time threshold; if the current vehicle speed is greater than the preset vehicle speed threshold or the calculation time consumption is greater than the preset calculation time threshold, it is determined that the first transmission mode for the body lateral and longitudinal control parameter by the system-level chip is the event-type transmission mode; The second transmission mode determining module is configured to determine a second transmission mode for the data packet by the main controller according to a receiving time of the data packet, the timestamp, and whether the data packet carries a priority processing identifier; The second data transmission module is configured to transmit the data packet to a lateral and longitudinal control component of the vehicle using an interrupt-triggered transmission mode when the second transmission mode is the interrupt-triggered mode.

13. An electronic device, comprising: Comprise: One or more processors; Memory; One or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs being configured to perform the method of any one of claims 1-8 or 9-10.

14. A computer-readable storage medium, characterized in that, The computer readable storage medium stores program code, and the program code can be called and executed by the processor to perform the method of any one of claims 1-8 or 9-10.

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