Vehicle control method and device, vehicle and storage medium

Abstract

The invention provides a vehicle control method and device, a vehicle and a storage medium, and the method comprises the steps: responding to the restart of a first cabin area controller in a plurality of cabin area controllers, and obtaining a historical operation mode of the vehicle before the restart of the first cabin area controller; based on the historical operation mode and the first cabin domain controller, determining an associated domain controller related to the historical operation mode in the plurality of domain controllers; sending a state synchronization instruction to the first cabin domain controller or the association domain controller; the state synchronization instruction is used for controlling the first cabin area controller or the vehicle-mounted equipment in the associated area controller to enter a target operation state corresponding to a target operation mode after the first cabin area controller is restarted. State synchronization can be performed between the first domain controller and the second domain controller or the third domain controller according to the historical operation mode.

Description

Technical Field

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

[0002] At present, the control architecture of a vehicle is that multiple domain controllers control different areas of the vehicle respectively. Different domain controllers need to keep information synchronized to avoid system conflicts or software and hardware conflicts. When a domain controller restarts due to a failure or other reasons, the domain controller cannot obtain the status information of other domain controllers during its restart time. In this case, the above-mentioned conflicts are likely to occur, thereby increasing the driving risk of the vehicle. Summary of the invention

[0003] The embodiments of the present disclosure at least provide a vehicle control method, device, vehicle, and storage medium.

[0004] In a first aspect, an embodiment of the present disclosure provides a vehicle control method, which is applied to a vehicle, wherein the vehicle includes a plurality of domain controllers, the domain controllers including: a body domain controller, and a plurality of cockpit domain controllers; wherein the plurality of cockpit domain controllers are respectively used to control vehicle-mounted devices in their respective cockpit domains, and the body domain controller is used to control the vehicle-mounted devices in the body domain; the method includes:

[0005] In response to a restart of a first cockpit domain controller among the plurality of cockpit domain controllers, obtaining a historical operating mode of the vehicle before the first cockpit domain controller is restarted;

[0006] Based on the historical operation mode and the first cockpit domain controller, determining, among the plurality of domain controllers, an associated domain controller associated with the historical operation mode;

[0007] Send a state synchronization instruction to the first cockpit domain controller or the associated domain controller; the state synchronization instruction is used to control the first cockpit domain controller, or the vehicle-mounted equipment within the domain of the associated domain controller, to enter a target operating state corresponding to the target operating mode after the first cockpit domain controller is restarted.

[0008] In this way, when the first cockpit domain controller is restarted, the historical operating mode of the vehicle before the first cockpit domain controller is restarted is obtained, and then the associated domain controller is determined based on the historical operating mode and the first cockpit domain controller, and a status synchronization instruction is sent to the first cockpit domain controller or the associated domain controller. Through the above steps, when the first cockpit domain controller is restarted, the first cockpit domain controller can synchronize its status with the associated domain controller based on the historical operating mode, thereby avoiding system conflicts or software and hardware conflicts caused by different status information between the domain controllers, effectively reducing driving risks.

[0009] In an optional implementation, the state synchronization instruction includes a first state synchronization instruction sent to the associated domain controller;

[0010] The first cockpit domain controller is a main domain controller, and sending a status synchronization instruction to the first cockpit domain controller or the associated domain controller includes:

[0011] Based on the first state information after the main domain controller is restarted, a first state synchronization instruction is generated, and the first state synchronization instruction is sent to the associated domain controller; the first state synchronization instruction is used to control the vehicle-mounted equipment within the domain of the associated domain controller to enter the target operating state corresponding to the target operating mode indicated by the first state information.

[0012] In this way, the first cockpit domain controller can be used as the main domain controller to generate a first state synchronization instruction to control the vehicle-mounted devices in the domain of the associated domain controller, so that the states of the first cockpit domain controller and the associated domain controller are synchronized.

[0013] In an optional implementation, the state synchronization instruction includes a second state synchronization instruction sent to the first cockpit domain controller;

[0014] The first cockpit domain controller is a slave domain controller, and sending a status synchronization instruction to the first cockpit domain controller or the associated domain controller includes:

[0015] Based on the second state information corresponding to the associated domain controller, a second state synchronization instruction is generated, and the second state synchronization instruction is sent to the slave domain controller; the second state synchronization instruction is used to control the vehicle-mounted equipment in the domain of the slave domain controller to enter a target operating state corresponding to the target operating mode indicated by the second state information;

[0016] The master domain controller is characterized by the first cockpit domain controller synchronizing the first status information to the associated domain controller, and the slave domain controller is characterized by the first cockpit domain controller acquiring the second status information of the associated domain controller.

[0017] In this way, the first cockpit domain controller can be used as a slave domain controller to generate a second state synchronization instruction to control the vehicle-mounted equipment within the domain of the first cockpit domain controller, so that the state of the first cockpit domain controller is synchronized with that of the associated domain controller.

[0018] In an optional implementation manner, the method further includes:

[0019] Sending restart information to the associated domain controller; the restart information is used to determine whether the associated domain controller maintains a historical operation mode;

[0020] Receiving the second status information sent by the slave domain controller;

[0021] The second state information includes: state information of maintaining the historical operation mode after the associated domain controller determines to maintain the historical operation mode;

[0022] or,

[0023] Including: state information after the associated domain controller exits the historical operation mode after determining not to maintain the historical operation mode.

[0024] In this way, different second state synchronization instructions can be generated according to the second state information fed back by the associated domain controller, which are used to instruct the vehicle-mounted equipment in the slave domain controller to enter the target operating state according to the target operating mode indicated by different second state synchronization instructions.

[0025] In an optional implementation manner, the method further includes:

[0026] In response to a restart of the vehicle body domain controller, based on the historical operation mode and the vehicle body domain controller, determining, among the plurality of domain controllers, an associated domain controller related to the historical operation mode;

[0027] Send a status synchronization instruction to the body domain controller or the associated domain controller; the status synchronization instruction is used to control the vehicle-mounted equipment within the body domain controller or the associated domain controller to enter a target operating state corresponding to the target operating mode after the restart sent by the body domain controller.

[0028] In this way, when the body domain controller restarts, the body domain controller can synchronize its status with the associated domain controller based on the historical operating mode, thereby avoiding system conflicts or software and hardware conflicts caused by different status information between domain controllers, and effectively reducing driving risks.

[0029] In an optional implementation manner, the method further includes:

[0030] Based on the historical operation mode, determining a restart strategy corresponding to the historical operation mode; wherein the restart strategy indicates that after the first domain controller is restarted, the historical operation mode is maintained or broken;

[0031] In a case where it is determined that the restart strategy indicates maintaining the vehicle mode and the current vehicle state of the target vehicle satisfies a condition for maintaining the historical operating mode, the historical operating mode is determined as the target operating mode.

[0032] In an optional implementation manner, the method further includes:

[0033] When it is determined that the restart strategy indicates to maintain the vehicle mode, but the current vehicle state of the target vehicle does not satisfy maintaining the historical operating mode, or when it is determined that the restart strategy does not maintain the vehicle mode, a default operating mode is determined as the target operating mode.

[0034] In this way, determining the target operation mode according to the restart strategies indicated by different historical operation modes is beneficial to improving the applicability of state synchronization.

[0035] In an optional implementation manner, when it is determined that the restart strategy indicates to maintain the vehicle mode and the current vehicle state of the target vehicle satisfies the condition of maintaining the historical operating mode, determining the historical operating mode as the target operating mode includes:

[0036] In response to determining that the restart strategy indicates maintaining the vehicle mode as the trailer mode, determining whether an automatic parking function indicated by a current vehicle state of the target vehicle is in an active state, and determining whether a fault indication of the target vehicle is in an active state;

[0037] In response to the automatic parking function of the target vehicle being in an active state, and / or the fault indication of the vehicle being in an active state, it is determined that the current vehicle state of the target vehicle satisfies the condition for maintaining the trailer mode, and the trailer mode is determined as the target operating mode.

[0038] In a second aspect, an optional implementation of the present disclosure further provides a vehicle control device, applied to a vehicle, wherein the vehicle includes a plurality of domain controllers, the domain controllers including: a body domain controller, and a plurality of cockpit domain controllers; wherein the plurality of cockpit domain controllers are respectively used to control vehicle-mounted devices within their respective cockpit domains, and the body domain controller is used to control vehicle-mounted devices within the body domain, the device including:

[0039] A first response module, configured to obtain a historical operation mode of the vehicle before the first cockpit domain controller is restarted in response to the first cockpit domain controller among the plurality of cockpit domain controllers being restarted;

[0040] A first determining module, configured to determine, based on the historical operating mode and the first cockpit domain controller, an associated domain controller related to the historical operating mode among the multiple domain controllers;

[0041] A synchronization module is used to send a status synchronization instruction to the first cockpit domain controller or the associated domain controller; the status synchronization instruction is used to control the vehicle-mounted equipment within the domain of the first cockpit domain controller or the associated domain controller to enter a target operating state corresponding to the target operating mode after the first cockpit domain controller is restarted.

[0042] In an optional implementation, when the synchronization module sends a status synchronization instruction to the first cockpit domain controller or the associated domain controller, it is used to:

[0043] Based on the first state information after the main domain controller is restarted, a first state synchronization instruction is generated, and the first state synchronization instruction is sent to the associated domain controller; the first state synchronization instruction is used to control the vehicle-mounted equipment within the domain of the associated domain controller to enter the target operating state corresponding to the target operating mode indicated by the first state information.

[0044] In an optional implementation, when the synchronization module sends a status synchronization instruction to the first cockpit domain controller or the associated domain controller, it is used to:

[0045] Based on the second state information corresponding to the associated domain controller, a second state synchronization instruction is generated, and the second state synchronization instruction is sent to the slave domain controller; the second state synchronization instruction is used to control the vehicle-mounted equipment in the domain of the slave domain controller to enter a target operating state corresponding to the target operating mode indicated by the second state information;

[0046] The master domain controller is characterized by the first cockpit domain controller synchronizing the first status information to the associated domain controller, and the slave domain controller is characterized by the first cockpit domain controller acquiring the second status information of the associated domain controller.

[0047] In an optional implementation manner, the device further includes a second determining module, configured to:

[0048] Sending restart information to the associated domain controller; the restart information is used to determine whether the associated domain controller maintains a historical operation mode;

[0049] Receiving the second status information sent by the slave domain controller;

[0050] The second state information includes: state information of maintaining the historical operation mode after the associated domain controller determines to maintain the historical operation mode;

[0051] or,

[0052] Including: state information after the associated domain controller exits the historical operation mode after determining not to maintain the historical operation mode.

[0053] In an optional implementation, the device further includes a second response module, which, in response to a restart of the body domain controller, determines, based on the historical operation mode and the body domain controller, an associated domain controller related to the historical operation mode among the multiple domain controllers;

[0054] Send a status synchronization instruction to the body domain controller or the associated domain controller; the status synchronization instruction is used to control the vehicle-mounted equipment within the body domain controller or the associated domain controller to enter a target operating state corresponding to the target operating mode after the restart sent by the body domain controller.

[0055] In an optional implementation manner, the device further includes a selection module, configured to:

[0056] Based on the historical operation mode, determining a restart strategy corresponding to the historical operation mode; wherein the restart strategy indicates that after the first domain controller is restarted, the historical operation mode is maintained or broken;

[0057] In a case where it is determined that the restart strategy indicates maintaining the vehicle mode and the current vehicle state of the target vehicle satisfies a condition for maintaining the historical operating mode, the historical operating mode is determined as the target operating mode.

[0058] In an optional implementation manner, the selection module is further used to:

[0059] When it is determined that the restart strategy indicates to maintain the vehicle mode, but the current vehicle state of the target vehicle does not satisfy maintaining the historical operating mode, or when it is determined that the restart strategy does not maintain the vehicle mode, a default operating mode is determined as the target operating mode.

[0060] In an optional implementation manner, when the selection module determines that the restart strategy indicates to maintain the vehicle mode and the current vehicle state of the target vehicle satisfies the condition of maintaining the historical operating mode, the historical operating mode is determined as the target operating mode, further configured to:

[0061] In response to determining that the restart strategy indicates maintaining the vehicle mode as the trailer mode, determining whether an automatic parking function indicated by a current vehicle state of the target vehicle is in an active state, and determining whether a fault indication of the target vehicle is in an active state;

[0062] In response to the automatic parking function of the target vehicle being in an active state, and / or the fault indication of the vehicle being in an active state, it is determined that the current vehicle state of the target vehicle satisfies the condition for maintaining the trailer mode, and the trailer mode is determined as the target operating mode.

[0063] In a third aspect, an embodiment of the present disclosure further provides a vehicle, comprising the first aspect, or any possible vehicle control method in the first aspect.

[0064] In a fourth aspect, an optional implementation of the present disclosure further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is run, the steps performed by the above-mentioned first aspect, or any possible vehicle control method in the first aspect are executed.

[0065] For a description of the effects of the above-mentioned vehicle control method, vehicle, and storage medium, please refer to the description of the above-mentioned vehicle control device, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 A flow chart showing a vehicle control method provided by some embodiments of the present disclosure;

[0067] Figure 2 A flowchart for determining second state information provided by some embodiments of the present disclosure is shown;

[0068] Figure 3 A flowchart for determining first state information provided by some embodiments of the present disclosure is shown;

[0069] Figure 4a One of the scene example diagrams of the vehicle control method provided by some embodiments of the present disclosure is shown;

[0070] Figure 4b A second example diagram of a scenario of a vehicle control method provided by some embodiments of the present disclosure is shown;

[0071] Figure 4c A third example diagram of a scenario of a vehicle control method provided by some embodiments of the present disclosure is shown;

[0072] Figure 5 An electrical architecture diagram of a vehicle control method provided by some embodiments of the present disclosure is shown;

[0073] Figure 6A schematic diagram of the structure of a vehicle control device provided in some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0074] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure more clear, the technical solution in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure.

[0075] At present, the control architecture of the vehicle is that multiple domain controllers control different areas of the vehicle respectively. Different domain controllers need to keep information synchronized to avoid system conflicts or software and hardware conflicts. When a domain controller restarts due to a fault or other reasons, the domain controller is forced to power off, so that the on-board devices under other domain controllers with the domain controller as the main domain controller are affected, which in turn leads to system conflicts or software and hardware conflicts, thereby increasing the driving risk of the vehicle. For example, when the trailer mode is turned on, restart the cockpit domain controller. After restarting, the car enters the default interface and shows that the trailer mode is off, but at this time the electronic handbrake of the chassis domain controller is still released, which will pose a safety risk. For another example, restart the cockpit domain controller in the game mode. After restarting, the cockpit domain controller will display the exit of the game mode; but at this time, the power switch of the power domain controller and the brake pedal of the chassis domain controller are still disabled.

[0076] Based on the above research, the present disclosure provides a vehicle control method, which can enable the first cockpit domain controller to synchronize its status with the associated domain controller according to the historical operating mode when the first cockpit domain controller is restarted, thereby avoiding system conflicts or software and hardware conflicts caused by different status information between the domain controllers, and effectively reducing driving risks.

[0077] To facilitate the understanding of the technical solution of the present disclosure, the technical terms in the embodiments of the present disclosure are first explained:

[0078] The cockpit domain controller (CDC) mainly controls various electronic information system functions in the vehicle's smart cockpit, including the central control system, in-vehicle infotainment system, head-up display, seat system, instrument system, rearview mirror system, driving behavior monitoring system, navigation system, etc.

[0079] The body control module (BCM) mainly controls various body functions, including but not limited to the control of headlights, taillights, interior lights, door locks, windows, sunroof, wipers, electric trunk, smart keys, air conditioning, antennas, gateway communications, etc.

[0080] The Power Domain Controller (PDC) mainly controls the vehicle's powertrain, optimizes the vehicle's power performance, and ensures the vehicle's power safety. The functions of the Power Domain Controller include but are not limited to engine management, transmission management, battery management, power distribution management, emission management, speed limit management, fuel and power saving management, etc.

[0081] The chassis domain controller (Dynamic Chassis Control, DCC) consists of the transmission system, driving system, steering system and braking system. It is mainly used to control the vehicle's steering, braking, power transmission, suspension adjustment, etc.

[0082] The solutions described in this specification and in the examples, if they involve the processing of personal information, will be processed on the premise of having a legal basis (such as obtaining the consent of the subject of personal information, or being necessary for the performance of a contract, etc.), and will only be processed within the scope of regulations or agreements. If a user refuses to process personal information other than the necessary information for basic functions, it will not affect the user's use of basic functions.

[0083] To facilitate understanding of this embodiment, a vehicle control device disclosed in the embodiment of the present disclosure is first introduced in detail.

[0084] See also Figure 1 As shown, it is a flow chart of a vehicle control method provided by an embodiment of the present disclosure, the control method is applied to a vehicle, the vehicle includes multiple domain controllers, the domain controllers include: a body domain controller, and multiple cockpit domain controllers; wherein the multiple cockpit domain controllers are respectively used to control the vehicle-mounted devices in their respective cockpit domains, and the body domain controller is used to control the vehicle-mounted devices in the body domain; the method includes the following steps S101 to S103, wherein:

[0085] S101, in response to a restart of a first cockpit domain controller among the multiple cockpit domain controllers, obtaining a historical operating mode of the vehicle before the first cockpit domain controller is restarted;

[0086] Here, the cockpit domain controller can also be subdivided into a main driving domain controller, a co-pilot domain controller, a rear domain controller, etc. according to the cockpit layout. The first cockpit domain controller is one of the above cockpit domain controllers.

[0087] When the first cockpit domain controller is restarted, a historical operation mode of the first cockpit domain controller of the vehicle before the restart is determined.

[0088] Here, the possible reasons for the restart of the first cockpit domain controller are that the vehicle has a hardware failure due to impact, high temperature, water immersion, etc., or a software failure due to system abnormality, downtime, etc.

[0089] The historical operation mode is represented by the operation status information of the vehicle-mounted device in the first cockpit domain controller domain before the restart occurs, and the operation status information of the vehicle-mounted device includes, for example, working status, sleep status, power-off status, etc. If the vehicle-mounted device is a display screen, the operation status information includes, for example, identification information showing the historical operation mode, etc.

[0090] Following the above S101, after obtaining the historical operating mode, the vehicle control method provided by the present disclosure further includes the following steps.

[0091] S102: Based on the historical operation mode and the first cockpit domain controller, determine, among the multiple domain controllers, an associated domain controller related to the historical operation mode.

[0092] Here, the associated domain controller related to the historical operation mode can be one or more of the domain controllers in the above examples. The historical operation mode may include: trailer mode, game mode, entertainment mode, rest mode, car wash mode, exhibition mode, automatic parking mode, and steep slope descent mode. Different operation modes need to call the vehicle-mounted devices in different domain controllers to achieve. For example, the trailer mode needs to call the vehicle's electronic parking system and locking system. When in the trailer mode, the electronic parking system included in the chassis domain controller controls the vehicle brake to be in a released state, and the locking system included in the body domain controller controls the door to be unable to lock the vehicle externally, etc. Therefore, if the historical operation mode is the trailer mode, the associated domain controller related to the historical operation mode may include the chassis domain controller and the body domain controller.

[0093] Following the above S102, after determining the associated domain controller, the method provided by the present disclosure further includes the following steps:

[0094] S103. Send a status synchronization instruction to the first cockpit domain controller or the associated domain controller; the status synchronization instruction is used to control the first cockpit domain controller, or the vehicle-mounted equipment within the domain of the associated domain controller, to enter a target operating state corresponding to a target operating mode after the first cockpit domain controller is restarted.

[0095] In some possible embodiments provided by the present disclosure, the state synchronization instruction includes a first state synchronization instruction sent to the associated domain controller; the first cockpit domain controller is a main domain controller, and the sending of the state synchronization instruction to the first cockpit domain controller or the associated domain controller includes: based on the first state information after the main domain controller is restarted, generating a first state synchronization instruction, and sending the first state synchronization instruction to the associated domain controller; the first state synchronization instruction is used to control the vehicle-mounted equipment within the domain of the associated domain controller to enter a target operating state corresponding to the target operating mode indicated by the first state information.

[0096] Here, the first state synchronization instruction sent to the associated domain controller is executed by the first cockpit domain controller as the primary domain controller. The first state synchronization instruction is generated based on the first state information of the first cockpit domain controller, and the first state information includes the state information of the vehicle-mounted devices in the domain of the first cockpit domain controller after restart. The first state synchronization instruction generates a control instruction for controlling the vehicle-mounted devices in the domain of the associated domain controller to enter the target operating state based on the state information of the vehicle-mounted devices in the domain of the first cockpit domain controller after restart.

[0097] In response to the first cockpit domain controller being the main domain controller, the first status information of the first cockpit domain controller after restarting is obtained, and a first status synchronization instruction is generated according to the first status information and sent to the associated domain controller. After receiving the first status synchronization instruction, the associated domain controller controls the vehicle-mounted equipment in the domain to enter the target operating state.

[0098] In some other possible embodiments provided by the present disclosure, the state synchronization instruction includes a second state synchronization instruction sent to the first cockpit domain controller;

[0099] The first cockpit domain controller is a slave domain controller, and the sending of a status synchronization instruction to the first cockpit domain controller or the associated domain controller includes: generating a second status synchronization instruction based on the second status information corresponding to the associated domain controller, and sending the second status synchronization instruction to the slave domain controller; the second status synchronization instruction is used to control the on-board equipment within the domain of the slave domain controller to enter a target operating state corresponding to the target operating mode indicated by the second status information; the master domain controller is characterized by the first cockpit domain controller synchronizing the first status information to the associated domain controller, and the slave domain controller is characterized by the first cockpit domain controller obtaining the second status information of the associated domain controller.

[0100] Here, the second state synchronization instruction sent to the first cockpit domain controller is executed by the first cockpit domain controller as a subordinate domain controller. The second state synchronization instruction is generated based on the second state information of the associated domain controller, and the second state information includes the state information of the vehicle-mounted devices in the domain of the associated domain controller. The second state synchronization instruction generates a control instruction for controlling the vehicle-mounted devices in the domain of the first cockpit domain controller to enter the target operating state based on the state information of the vehicle-mounted devices in the domain of the associated domain controller.

[0101] In response to the first cockpit domain controller being a slave domain controller, the second state information of the associated domain controller is obtained, and a second state synchronization instruction is generated according to the second state information and sent to the first cockpit domain controller. After receiving the second state synchronization instruction, the first cockpit domain controller controls the on-board equipment in the domain to enter the target operating state.

[0102] Exemplarily, whether the first cockpit domain controller is a master domain controller or a slave domain controller may be determined based on a historical operating mode.

[0103] Here, the master domain controller is represented as adjusting the status information of other associated domain controllers based on the first cockpit domain controller so that the status information of the first cockpit domain controller is synchronized with that of the other associated domain controllers; the slave domain controller is represented as adjusting the status information of the first cockpit domain controller based on the status information of other associated domain controllers so that the status information of the first cockpit domain controller is synchronized with that of the other associated domain controllers.

[0104] Based on the historical operation mode, it can be determined whether the first cockpit domain controller is a master domain controller or a slave domain controller. Exemplarily, the historical operation mode includes the vehicle mode information displayed on the display module before the first cockpit domain controller is restarted. The vehicle mode information displayed on the display module can be displayed according to the user's trigger operation on the display module, or can be displayed on the display module according to the user's voice command, gesture command, etc. According to the historical operation mode, it can be determined that the vehicle is in a certain vehicle mode before the first cockpit domain controller is restarted.

[0105] Here, the display module can be the vehicle's central control screen, main driver screen, co-driver entertainment screen, rear entertainment screen, etc.

[0106] If, as shown in the above example, the cockpit domain controller is subdivided into the main driving domain controller, the co-pilot domain controller, and the rear domain controller, then the central control screen and the main driving screen are in-domain vehicle devices of the main driving domain, the co-pilot entertainment screen is an in-domain vehicle device of the co-pilot domain controller, and the rear entertainment screen is an in-domain vehicle device of the rear domain controller.

[0107] The display module displays the vehicle mode screen including thumbnail icon display, page display, etc.

[0108] Exemplary, for example, the user controls the vehicle to enter trailer mode by clicking on the central control screen, and displays information indicating that the vehicle has entered trailer mode on the central control screen. The display information may be, for example, a thumbnail icon or a page. At this time, if the first cockpit domain controller is restarted, the first cockpit domain controller determines that the vehicle is in trailer mode based on the display information on the central control screen before the restart.

[0109] In one possible example, when the user controls the vehicle to enter the trailer mode, the first cockpit domain controller can save the mode, and when the vehicle mode changes, update the saved vehicle mode according to the changed vehicle mode. In this way, when a fault occurs and the vehicle is restarted, the vehicle mode information can be read from the storage unit where the vehicle mode is saved.

[0110] Exemplarily, the user controls the vehicle to enter game mode, entertainment mode, or rest mode through voice input, and displays the display information of the vehicle entering the above three modes on the central control screen, or displays the operation pages of the above three modes. For example, when the vehicle enters game mode, the game page is displayed on the central control screen, and when the vehicle enters entertainment mode, the song request page is displayed on the central control screen. For example, when the vehicle enters rest mode, the central control screen lowers the display brightness, the audio plays music, and the interior ambient light is turned on. At this time, if the first cockpit domain controller is restarted, the first cockpit domain controller determines that the vehicle is currently in game mode, entertainment mode, or rest mode based on the display information of the central control screen before the restart.

[0111] Other modes are similar to the above examples. The first cockpit domain controller can determine the operating mode of the vehicle through the display information on the central control screen or the vehicle operating mode information stored in the storage unit.

[0112] In this way, the vehicle mode can be determined according to the historical operation mode, and according to the difference in the vehicle mode, it can be determined whether the first domain controller belongs to the master domain controller or the slave domain controller.

[0113] Exemplarily, if the vehicle mode is game mode, entertainment mode, rest mode, exhibition car mode, etc., the first cockpit domain controller is the master domain controller; if the vehicle mode is trailer mode, car wash mode, automatic parking mode, steep slope descent mode, the first cockpit domain controller is the slave domain controller.

[0114] Here, in the vehicle mode corresponding to the first cockpit domain controller as the main domain controller, taking the vehicle mode as the game mode as an example, other associated domain controllers play an auxiliary or cooperating role. For example, the ignition, brake, steering wheel, etc. of the power domain controller serve as a control button for the target game in the game mode. When the user turns the steering wheel, the front wheels of the vehicle do not respond to the user's operation.

[0115] In the vehicle mode corresponding to the first cockpit domain controller as the slave domain controller, taking the trailer mode as an example, other associated domain controllers play a leading role, and the first cockpit domain controller plays an auxiliary role in displaying the operation results. For example, the electronic handbrake of the power domain controller is in the released state, and the gear position of the vehicle is in N gear. At this time, the central control screen of the first cockpit domain controller displays these operation information.

[0116] In addition, in some possible implementations provided by the present disclosure, the method further includes:

[0117] In response to a restart of the body domain controller, based on the historical operating mode and the body domain controller, an associated domain controller related to the historical operating mode is determined among the multiple domain controllers; a state synchronization instruction is sent to the body domain controller or the associated domain controller; the state synchronization instruction is used to control the vehicle-mounted equipment within the domain of the body domain controller or the associated domain controller to enter a target operating state corresponding to the target operating mode sent by the body domain controller after the restart.

[0118] Here, the synchronization process when the body domain controller is restarted is similar to that when the cockpit domain controller is restarted. The difference is that when the body domain controller is restarted, when the body domain controller is used as the slave domain controller, while maintaining the historical operating mode before the restart, the cockpit domain controller does not need to determine whether the vehicle can maintain the historical operating mode.

[0119] Exemplarily, the restarting party being a cockpit domain controller or a body domain controller includes the following A1 and B1 state synchronization processes.

[0120] A1 determines whether the cockpit domain controller is a master domain controller or a slave domain controller when the cockpit domain controller is restarted. If the cockpit domain controller is the master domain controller, the body domain controller is the slave domain controller.

[0121] When A11 determines that the cockpit domain controller is the main domain controller, it determines whether to maintain the historical operation mode based on the vehicle status information.

[0122] A111 If the historical operation mode is maintained, the cockpit domain controller memorizes the historical operation mode of the vehicle, and determines whether the vehicle can maintain the vehicle state after restarting. A first state synchronization instruction generated according to the first state information obtained after the determination is sent to the body domain controller.

[0123] A112 If the historical operating mode is not maintained, the cockpit domain controller does not memorize the historical operating mode of the vehicle. After restarting, it generates a first state synchronization instruction based on the first state information after restarting and sends it to the body domain controller.

[0124] The above A111 and A112 are both the cockpit domain controller acting as the main domain controller actively sending the first status information.

[0125] When A12 determines that the cockpit domain is a slave domain controller, it determines whether to maintain the historical operation mode based on the vehicle status information.

[0126] A121 If the historical operating mode is maintained, the body domain controller memorizes the historical operating mode of the vehicle before restart, and after the cockpit domain controller is restarted, generates the second state information according to the second state information after restart and generates the second state synchronization instruction and sends it to the cockpit domain controller.

[0127] A122 If the historical operating mode is not maintained, the body domain controller does not remember the historical operating mode of the vehicle before restarting, and after the cockpit domain controller is restarted, it generates a second state synchronization instruction based on the second state information after restarting and sends it to the cockpit domain controller.

[0128] The above A121 and A122 are both the second status information of the body domain controller actively obtained by the cockpit domain controller as a slave domain controller.

[0129] B1 determines whether the body domain controller is a master domain controller or a slave domain controller in response to a restart of the body domain controller.

[0130] B11 is a slave domain controller for the body domain controller, and determines whether to maintain the historical operating mode based on the vehicle status information.

[0131] If B111 maintains the historical operating mode, the cockpit domain controller memorizes the historical operating mode of the vehicle, and after restarting, notifies the cockpit domain controller, and the cockpit domain controller synchronizes the first state information to the body domain controller.

[0132] B112 If the historical operating mode is not maintained, the cockpit domain controller does not memorize the historical operating mode of the vehicle. After restarting, the cockpit domain controller is notified, and the cockpit domain controller synchronizes the first state information to the body domain controller.

[0133] B12, for the body domain controller as the main domain controller, determines whether to maintain the historical operation mode based on the vehicle status information.

[0134] If B121 maintains the historical operating mode, the body domain controller memorizes the historical operating mode of the vehicle before restarting. After restarting, it notifies the cockpit domain controller, and the cockpit domain actively obtains the second state information from the body domain controller.

[0135] B122 If the historical operating mode is not maintained, the body domain controller does not remember the historical operating mode of the vehicle before restarting, and after the cockpit domain controller restarts, it notifies the cockpit domain controller, and the cockpit domain controller actively obtains the second state information from the body domain controller.

[0136] In some possible embodiments provided by the present disclosure, the method further includes: sending restart information to the associated domain controller; the restart information is used to determine whether the associated domain controller maintains a historical operating mode; receiving the second state information sent by the subordinate domain controller; the second state information includes: state information of maintaining the historical operating mode after the associated domain controller determines to maintain the historical operating mode; or includes: state information after exiting the historical operating mode after the associated domain controller determines not to maintain the historical operating mode.

[0137] See also Figure 2 A flowchart for determining the second state information shown in FIG. 1 includes steps S2021 to S2022 when determining the second state information, wherein:

[0138] S2021. Send restart information to the associated domain controller; the restart information is used to determine whether the associated domain controller maintains a historical operation mode.

[0139] The restart information here refers to some information generated when the first cockpit domain controller restarts, such as the restart time, the restart reason, etc. The restart information is sent to the associated domain controller, and the associated domain controller determines whether to maintain the vehicle mode based on the restart information.

[0140] For example, taking the status information before the first cockpit domain controller is restarted indicating that the vehicle is in game mode, when the first cockpit domain controller is restarted, if the restart information includes: the restart reason is a battery failure and power failure restart, and the restart time is 4 hours, the restart information is sent to the associated domain controller, and the associated domain controller determines that the restart time is too long and there is no need to maintain the game mode based on the restart information. If the restart information includes: the restart reason is a program bug, and the restart time is 30 seconds, the restart information is sent to the associated domain controller, and the associated domain controller determines that the restart time is short and the game mode can be maintained based on the restart information.

[0141] In another example, taking the status information before the first cockpit domain controller is restarted indicating that the vehicle is in trailer mode, when the first cockpit domain controller is restarted, if the restart information includes: the restart reason is a program bug restart, and the restart time is 5 minutes, during the restart, the user actively pulls up the electronic handbrake, which changes the status information of the associated domain controller, the associated domain controller determines that there is no need to maintain trailer mode based on the restart information and the user's operation.

[0142] S2022. Receive the second status information sent by the subordinate domain controller; the second status information includes: the status information of maintaining the historical operation mode after the associated domain controller determines to maintain the historical operation mode; or includes: the status information after exiting the historical operation mode after the associated domain controller determines not to maintain the historical operation mode.

[0143] After the associated domain controller determines whether to maintain the vehicle mode, the second state information is sent to the first cockpit domain controller. The first cockpit domain controller updates its own first state information according to the received second state information, so that the first state information of the first domain controller is synchronized with the second state information of the associated domain controller.

[0144] In some possible implementations provided by the present disclosure, the method further includes: determining a restart strategy corresponding to the historical operating mode based on the historical operating mode; wherein the restart strategy indicates that after the first domain controller is restarted, the historical operating mode is maintained or the historical operating mode is broken; when it is determined that the restart strategy indicates maintaining the vehicle mode and the current vehicle state of the target vehicle satisfies the condition of maintaining the historical operating mode, the historical operating mode is determined as the target operating mode.

[0145] Here, see Figure 3 The flowchart of determining the first state information shown includes the following steps S3011 to S3014, wherein:

[0146] S3011. Based on the historical operation mode, determine a restart strategy corresponding to the historical operation mode; wherein the restart strategy indicates that after the first domain controller is restarted, the historical operation mode is maintained or the historical operation mode is broken.

[0147] Here, the restart strategy corresponding to the historical operation mode may be pre-set, and the restart strategy may be changed according to actual needs.

[0148] Exemplary, for example, if the historical operating mode is the game mode, the corresponding restart strategy may be to maintain the historical operating mode before the restart. When the cockpit domain controller fails and restarts, the display information on the central control screen includes a display screen showing that the vehicle is in game mode.

[0149] S3012. When it is determined that the historical operation mode is to be maintained, determine whether the current vehicle state of the target vehicle satisfies the functional conditions of the historical operation mode.

[0150] Here, different historical operation modes have different functional conditions, and the current vehicle state of the target vehicle is related to the operation state information of the vehicle-mounted devices in the domain controlled by multiple domain controllers.

[0151] Exemplarily, when the historical operating mode is trailer mode, the current vehicle state of the target vehicle is determined. For example, to maintain trailer mode, the electronic handbrake in the power domain controller of the target vehicle should be in the released state, and the gear should be in N gear; the seat occupancy sensor in the cockpit domain controller and the in-vehicle camera should detect the presence of a user in the driving seat. That is, by judging the operating state information of the electronic handbrake and gear of the target vehicle, it can be judged whether the current vehicle state of the target vehicle meets the functional conditions of the trailer mode. When it is detected that the electronic handbrake is in the released state, the gear is in N gear, and the user is in the driving position, it is considered that the current vehicle state of the target vehicle meets the functional conditions of maintaining the trailer mode.

[0152] In another example, when the historical operating mode is game mode, entertainment mode, or rest mode, the steering wheel, ignition switch, electronic handbrake, gear position, etc. within the power domain controller domain of the target vehicle should be in a locked state, the ambient light, audio, etc. of the cockpit domain controller can be in an on state, and the seat occupancy sensor and the in-car camera should detect the presence of a user in at least one seat in the car. That is, by judging the operating status information of the target vehicle's steering wheel, ignition switch, electronic handbrake, gear position and other on-board equipment, as well as the operating status information of the ambient light, audio, seat occupancy sensor, in-car camera and other on-board equipment, it can be judged whether the target vehicle's current vehicle state meets the functional conditions of the game, entertainment or rest mode.

[0153] S3013: When it is determined that the restart strategy indicates to maintain the vehicle mode and the current vehicle state of the target vehicle satisfies a condition for maintaining the historical operating mode, determine the historical operating mode as the target operating mode.

[0154] Here, when the target vehicle meets the functional condition, the state information before the first cockpit domain controller is restarted is determined as the first state information after the first domain controller is restarted.

[0155] Exemplarily, if the status information before the first cockpit domain controller is restarted includes the central control screen displaying that the vehicle is in game mode and the ambient light is on, then the first status information after the first cockpit domain controller is restarted also includes the central control screen displaying that the vehicle is in game mode and the ambient light is on.

[0156] S3014. When it is determined that the restart strategy indicates to maintain the vehicle mode, but the current vehicle state of the target vehicle does not satisfy the requirement to maintain the historical operating mode, or when it is determined that the restart strategy does not maintain the vehicle mode, the default operating mode is determined as the target operating mode.

[0157] Here, the default operating mode may be the normal driving mode of the vehicle, in which the vehicle's onboard equipment meets normal driving conditions, for example, the electronic handbrake is pulled up, the vehicle gear is in P gear, the central control screen displays the main interface, the doors are locked, etc. The default operating mode is set before the vehicle leaves the factory, and is usually the operating mode that the vehicle enters when the user starts the vehicle.

[0158] Determining not to maintain the historical operating mode may be determined based on a trigger operation of the user. For example, after the first cockpit domain controller is restarted, a page for restoring the vehicle mode before the restart is displayed on the central control screen to ask the user whether to restore the vehicle mode to the vehicle mode before the restart. At this time, the user may refuse to restore the vehicle mode to the historical operating mode before the restart through a trigger operation.

[0159] Exemplarily, if the status information before the first cockpit domain controller is restarted includes the central control screen displaying that the vehicle is in trailer mode, then when the target vehicle does not meet the functional conditions, the first status information after the first cockpit domain controller is restarted includes: displayed as the default mode on the central control screen.

[0160] Next, after determining the first state information of the first cockpit domain controller after restarting, the first state information is synchronized to the associated domain controller, which may be one or more. The associated domain controller is controlled by the first domain controller, so that the second state information of the associated domain controller is synchronized with the first state information of the first domain controller.

[0161] Exemplarily, when the vehicle is in game mode before the first cockpit domain controller is restarted, the power switch in the domain of the power domain controller, the brake in the chassis domain controller, the exterior lighting of the body domain controller, etc. are in a disabled state and do not respond to the user's trigger operation. At this time, the first cockpit domain controller is restarted. After the restart, the restart strategy corresponding to the game mode is restored to the state before the restart. Therefore, the first state information of the first cockpit domain controller is determined to include: the central control screen displays the game mode and re-enters the game page. And the first state information is sent to the associated domain controllers such as the power domain controller, the chassis domain controller, and the body domain controller. After receiving the first state information, these associated domain controllers determine whether the power switch, brake, exterior lighting, etc. in the domain are in a disabled state. If so, they remain unchanged. Otherwise, the operating state information of the relevant vehicle-mounted equipment is changed according to the game mode to achieve synchronization with the state information of the first cockpit domain controller.

[0162] In some possible embodiments provided by the present disclosure, when it is determined that the restart strategy indicates maintaining the vehicle mode and the current vehicle state of the target vehicle satisfies the condition of maintaining the historical operating mode, the historical operating mode is determined as the target operating mode, including: in response to determining that the restart strategy indicates maintaining the vehicle mode as the trailer mode, determining whether the automatic parking function indicated by the current vehicle state of the target vehicle is in a working state, and determining whether the fault indication of the target vehicle is in a working state; in response to the automatic parking function of the target vehicle being in a working state, and / or the fault indication of the vehicle being in a working state, determining that the current vehicle state of the target vehicle satisfies the condition of maintaining the trailer mode, and determining the trailer mode as the target operating mode.

[0163] Exemplarily, when the vehicle mode is the trailer mode, the actual application is as follows:

[0164] Exit reason: The cockpit domain controller restarted;

[0165] Vehicle status after restart: The cockpit domain controller exits the trailer mode, while the associated domain controllers such as the chassis domain controller and the body domain controller are still in the trailer mode.

[0166] See also Figure 4a One of the scene example diagrams of the vehicle control method described above, Figure 4a The example diagram before the cockpit domain controller is restarted is shown. The cockpit domain controller includes a steering wheel control system. A car restart button B1 is arranged on the steering wheel of the vehicle. The information displayed on the central control screen is that the vehicle is in trailer mode (the slider B21 on the right side of the control B2 indicates that the vehicle is in trailer mode), the vehicle is in N gear, the electronic handbrake is in a released state (light color indicates that the electronic handbrake is released), and the one-key power-off function is turned off (dark color indicates that the one-key power-off function is turned off), indicating that the vehicle's power-off lock function is turned off and the vehicle cannot be locked. At this time, when the car system fails and is stuck, the user can restart the car by clicking button B1. Determine whether the vehicle state after the car restart meets the conditions for maintaining the trailer mode. In the associated domain controller, if the brake device under the electronic handbrake system included in the chassis domain controller is locked, or the locking device included in the body domain controller is in a power-off locked state, or the gear is in P gear, it means that the vehicle state after restart cannot meet the conditions for maintaining the trailer mode. When the vehicle's gear position is in N gear, the brake device is released, and the locking device is in a state where it cannot be locked by power off, it means that the vehicle status after restarting meets the conditions for maintaining the trailer mode.

[0167] See also Figure 4b The second example of a vehicle control method scenario is shown in FIG. Figure 4bThe example image shows that the vehicle meets the conditions for maintaining trailer mode and resumes trailer mode. At this time, the central control screen shows that the vehicle resumes trailer mode, the vehicle's gear is in N gear, the electronic parking brake is released, and the one-button power-off function is turned off. A prompt message that the vehicle resumes trailer mode is also displayed.

[0168] See also Figure 4c The third example of a scene of a vehicle control method shown in FIG. Figure 4c The example diagram shows that the vehicle does not meet the conditions for trailer mode and changes to the default mode. At this time, the central control screen shows that the vehicle has changed to the default mode, the vehicle has exited the trailer mode (slider B21 on the left side of control B2 indicates that the vehicle has exited the trailer mode), the vehicle's gear is in P gear, the electronic handbrake is locked (dark color indicates that the electronic handbrake is locked), and the one-key power-off function is turned on (light color indicates that the one-key power-off function is turned on). The prompt message that the vehicle has changed to the default mode is also displayed.

[0169] In addition, the present disclosure also provides some other application scenario examples.

[0170] Scenario example 1: Game mode.

[0171] Exit reason: The cockpit domain controller restarted.

[0172] Vehicle status after restart: The cockpit domain controller exits the game mode, and the body domain controller is still in the game mode. The steering wheel, ignition, and brake are disabled, the body domain controller is also in the game mode, the interior ambient light is turned on, and the wipers and lights are turned off.

[0173] Possible consequences: The user sees through the cockpit domain controller's display screen that the vehicle has exited gaming mode, but finds that they are unable to use the steering wheel, ignition, or release the brakes.

[0174] According to the above scenario, when the cockpit domain controller restarts, since the cockpit domain controller is the main domain controller at this time, the first status information including exiting the game mode is sent to the body domain controller and the power domain controller. The body domain controller and the power domain controller control the steering wheel, ignition, brakes, exterior lighting, wipers, etc. according to the first status information, and the user can control these vehicle-mounted devices by triggering operations.

[0175] Scenario example 2: Exhibition car mode.

[0176] Exit reason: The cockpit domain controller restarted.

[0177] Vehicle status after restart: The display screen of the cockpit domain controller shows that the vehicle is in default mode at this time, but the body domain controller still maintains the exhibition vehicle mode.

[0178] Possible consequences: Unable to control lights, windows, air conditioning, wipers, etc.

[0179] According to the above scenario, when the cockpit domain controller restarts, the cockpit domain controller obtains the second status information of the body domain controller, and changes the first status information of the cockpit domain controller according to the second status information of the body domain controller, so that the second status information of the body domain controller is synchronized with the first status information of the cockpit domain controller.

[0180] See also Figure 5 The electrical architecture diagram of a vehicle control method shown includes a central gateway and multiple domain controllers, wherein the multiple domain controllers include a body domain controller, a cockpit domain controller, a chassis domain controller and a power domain controller, and each domain controller includes multiple electronic control units ECU, and the ECU is connected to the vehicle-mounted equipment to control the vehicle-mounted equipment and obtain the status information of the vehicle-mounted equipment. The central gateway is used to transmit the status information of each domain controller, as well as the synchronization status instructions. Referring to the above example, when one of the domain controllers is restarted, the central gateway is used to obtain the status information of the vehicle-mounted equipment in the domain of other domain controllers or send the status information in the domain; after the synchronization status instruction is generated, it is synchronized to each domain controller through the central gateway, so that the status of the vehicle-mounted equipment in the domain of each domain controller is synchronized, thereby avoiding system conflicts or software and hardware conflicts caused by different status information between each domain controller, and effectively reducing driving risks.

[0181] The description of the processing flow of each component in the above method, and the interaction flow between each component, does not mean that a strict processing flow and interaction flow will constitute any limitation on the implementation process. The processing flow and interaction flow of each component should be determined by its function and possible internal logic.

[0182] Based on the same inventive concept, a vehicle control device corresponding to the vehicle control method is also provided in the embodiment of the present disclosure. Since the principle of solving the problem by the device in the embodiment of the present disclosure is similar to the above-mentioned vehicle control method in the embodiment of the present disclosure, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0183] Reference Figure 6 As shown, it is a structural schematic diagram of a vehicle control device provided by an embodiment of the present disclosure, the vehicle control device is applied to a vehicle, the vehicle includes multiple domain controllers, the domain controllers include: a body domain controller, and multiple cockpit domain controllers; wherein the multiple cockpit domain controllers are respectively used to control the vehicle-mounted devices in their respective cockpit domains, the body domain controller is used to control the vehicle-mounted devices in the body domain, and the device includes:

[0184] A first response module 61 is used for obtaining a historical operation mode of the vehicle before the first cockpit domain controller is restarted in response to the first cockpit domain controller among the multiple cockpit domain controllers being restarted;

[0185] A first determination module 62 is configured to determine, based on the historical operation mode and the first cockpit domain controller, an associated domain controller related to the historical operation mode among the multiple domain controllers;

[0186] The synchronization module 63 is used to send a status synchronization instruction to the first cockpit domain controller or the associated domain controller; the status synchronization instruction is used to control the vehicle-mounted equipment within the domain of the first cockpit domain controller or the associated domain controller to enter a target operating state corresponding to the target operating mode after the first cockpit domain controller is restarted.

[0187] In an optional implementation manner, when the synchronization module 63 sends the status synchronization instruction to the first cockpit domain controller or the associated domain controller, it is used to:

[0188] Based on the first state information after the main domain controller is restarted, a first state synchronization instruction is generated, and the first state synchronization instruction is sent to the associated domain controller; the first state synchronization instruction is used to control the vehicle-mounted equipment within the domain of the associated domain controller to enter the target operating state corresponding to the target operating mode indicated by the first state information.

[0189] In an optional implementation manner, when the synchronization module 63 sends a status synchronization instruction to the first cockpit domain controller or the associated domain controller, it is used to:

[0190] Based on the second state information corresponding to the associated domain controller, a second state synchronization instruction is generated, and the second state synchronization instruction is sent to the slave domain controller; the second state synchronization instruction is used to control the vehicle-mounted equipment in the domain of the slave domain controller to enter a target operating state corresponding to the target operating mode indicated by the second state information;

[0191] The master domain controller is characterized by the first cockpit domain controller synchronizing the first status information to the associated domain controller, and the slave domain controller is characterized by the first cockpit domain controller acquiring the second status information of the associated domain controller.

[0192] In an optional implementation manner, the device further includes a second determining module 65, configured to:

[0193] Sending restart information to the associated domain controller; the restart information is used to determine whether the associated domain controller maintains a historical operation mode;

[0194] Receiving the second status information sent by the slave domain controller;

[0195] The second state information includes: state information of maintaining the historical operation mode after the associated domain controller determines to maintain the historical operation mode;

[0196] or,

[0197] Including: state information after the associated domain controller exits the historical operation mode after determining not to maintain the historical operation mode.

[0198] In an optional implementation, the device further includes a second response module 64, which, in response to the restart of the vehicle body domain controller, determines, based on the historical operation mode and the vehicle body domain controller, an associated domain controller related to the historical operation mode among the multiple domain controllers;

[0199] Send a status synchronization instruction to the body domain controller or the associated domain controller; the status synchronization instruction is used to control the vehicle-mounted equipment within the body domain controller or the associated domain controller to enter a target operating state corresponding to the target operating mode after the restart sent by the body domain controller.

[0200] In an optional implementation manner, the device further includes a selection module 66, configured to:

[0201] Based on the historical operation mode, determining a restart strategy corresponding to the historical operation mode; wherein the restart strategy indicates that after the first domain controller is restarted, the historical operation mode is maintained or broken;

[0202] In a case where it is determined that the restart strategy indicates maintaining the vehicle mode and the current vehicle state of the target vehicle satisfies a condition for maintaining the historical operating mode, the historical operating mode is determined as the target operating mode.

[0203] In an optional implementation manner, the selection module 66 is further configured to:

[0204] When it is determined that the restart strategy indicates to maintain the vehicle mode, but the current vehicle state of the target vehicle does not satisfy maintaining the historical operating mode, or when it is determined that the restart strategy does not maintain the vehicle mode, a default operating mode is determined as the target operating mode.

[0205] In an optional implementation manner, when determining that the restart strategy indicates to maintain the vehicle mode and the current vehicle state of the target vehicle satisfies the condition of maintaining the historical operating mode, the selection module 66 is further configured to:

[0206] In response to determining that the restart strategy indicates maintaining the vehicle mode as the trailer mode, determining whether an automatic parking function indicated by a current vehicle state of the target vehicle is in an active state, and determining whether a fault indication of the target vehicle is in an active state;

[0207] In response to the automatic parking function of the target vehicle being in an active state, and / or the fault indication of the vehicle being in an active state, it is determined that the current vehicle state of the target vehicle satisfies the condition for maintaining the trailer mode, and the trailer mode is determined as the target operating mode.

[0208] An embodiment of the present disclosure also provides a vehicle, comprising the vehicle control method or vehicle control device described in any of the above embodiments of the present disclosure.

[0209] The embodiment of the present disclosure also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the execution steps of the vehicle control device described in the above method embodiment, or the steps of the vehicle control method, or the execution steps of the vehicle described above are executed. The storage medium can be a volatile or non-volatile computer-readable storage medium.

[0210] The method in the embodiments of the present disclosure may be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instruction is loaded and executed on a computer, the process or function described in the present application is executed in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device, a core network device, an OAM or other programmable device.

[0211] The computer program or instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer program or instructions may be transmitted from one website, computer, server or data center to another website, computer, server or data center by wired or wireless means. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium, such as a floppy disk, a hard disk, or a magnetic tape; it may also be an optical medium, such as a digital video disk; it may also be a semiconductor medium, such as a solid-state drive. The computer-readable storage medium may be a volatile or non-volatile storage medium, or may include both volatile and non-volatile types of storage media.

[0212] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present disclosure, which are used to illustrate the technical solutions of the present disclosure, rather than to limit them. The protection scope of the present disclosure is not limited thereto. Although the present disclosure is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed in the present disclosure, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure, and should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that: Applied to a vehicle, the vehicle includes a plurality of domain controllers, the domain controllers include: a body domain controller, and a plurality of cockpit domain controllers; wherein the plurality of cockpit domain controllers are respectively used to control vehicle-mounted devices in their respective cockpit domains, and the body domain controller is used to control vehicle-mounted devices in the body domain; the method includes: In response to a restart of a first cockpit domain controller among the plurality of cockpit domain controllers, obtaining a historical operating mode of the vehicle before the first cockpit domain controller is restarted; Based on the historical operation mode and the first cockpit domain controller, determining, among the plurality of domain controllers, an associated domain controller associated with the historical operation mode; Send a state synchronization instruction to the first cockpit domain controller or the associated domain controller; the state synchronization instruction is used to control the first cockpit domain controller, or the vehicle-mounted equipment within the domain of the associated domain controller, to enter a target operating state corresponding to the target operating mode after the first cockpit domain controller is restarted.

2. The vehicle control method according to claim 1, characterized in that: The state synchronization instruction includes a first state synchronization instruction sent to the associated domain controller; The first cockpit domain controller is a main domain controller, and sending a status synchronization instruction to the first cockpit domain controller or the associated domain controller includes: Based on the first state information after the main domain controller is restarted, a first state synchronization instruction is generated, and the first state synchronization instruction is sent to the associated domain controller; the first state synchronization instruction is used to control the vehicle-mounted equipment within the domain of the associated domain controller to enter the target operating state corresponding to the target operating mode indicated by the first state information.

3. The vehicle control method according to claim 1 or 2, characterized in that: The state synchronization instruction includes a second state synchronization instruction sent to the first cockpit domain controller; The first cockpit domain controller is a slave domain controller, and sending a status synchronization instruction to the first cockpit domain controller or the associated domain controller includes: Based on the second state information corresponding to the associated domain controller, a second state synchronization instruction is generated, and the second state synchronization instruction is sent to the slave domain controller; the second state synchronization instruction is used to control the vehicle-mounted equipment in the domain of the slave domain controller to enter a target operating state corresponding to the target operating mode indicated by the second state information; The master domain controller is characterized by the first cockpit domain controller synchronizing the first status information to the associated domain controller, and the slave domain controller is characterized by the first cockpit domain controller acquiring the second status information of the associated domain controller.

4. The vehicle control method according to claim 3, characterized in that: The method further comprises: Sending restart information to the associated domain controller; the restart information is used to determine whether the associated domain controller maintains a historical operation mode; Receiving the second status information sent by the slave domain controller; The second state information includes: state information of maintaining the historical operation mode after the associated domain controller determines to maintain the historical operation mode; or, Including: state information after the associated domain controller determines not to maintain the historical operation mode and exits the historical operation mode.

5. The vehicle control method according to claim 1, characterized in that: The method further comprises: In response to a restart of the vehicle body domain controller, based on the historical operation mode and the vehicle body domain controller, determining, among the plurality of domain controllers, an associated domain controller related to the historical operation mode; Send a status synchronization instruction to the body domain controller or the associated domain controller; the status synchronization instruction is used to control the vehicle-mounted equipment within the body domain controller or the associated domain controller to enter a target operating state corresponding to the target operating mode after the restart sent by the body domain controller.

6. The vehicle control method according to claim 1, characterized in that: The method further comprises: Based on the historical operation mode, determining a restart strategy corresponding to the historical operation mode; wherein the restart strategy indicates that after the first domain controller is restarted, the historical operation mode is maintained or broken; In a case where it is determined that the restart strategy indicates maintaining the vehicle mode and the current vehicle state of the target vehicle satisfies a condition for maintaining the historical operating mode, the historical operating mode is determined as the target operating mode.

7. The vehicle control method according to claim 6, characterized in that: The method further comprises: When it is determined that the restart strategy indicates to maintain the vehicle mode, but the current vehicle state of the target vehicle does not satisfy maintaining the historical operating mode, or when it is determined that the restart strategy does not maintain the vehicle mode, a default operating mode is determined as the target operating mode.

8. The vehicle control method according to claim 6, characterized in that: The step of determining the historical operation mode as the target operation mode when it is determined that the restart strategy indicates maintaining the vehicle mode and the current vehicle state of the target vehicle satisfies a condition for maintaining the historical operation mode includes: In response to determining that the restart strategy indicates maintaining the vehicle mode as the trailer mode, determining whether an automatic parking function indicated by a current vehicle state of the target vehicle is in an active state, and determining whether a fault indication of the target vehicle is in an active state; In response to the automatic parking function of the target vehicle being in an active state, and / or the fault indication of the vehicle being in an active state, it is determined that the current vehicle state of the target vehicle satisfies the condition for maintaining the trailer mode, and the trailer mode is determined as the target operating mode.

9. A vehicle control device, characterized in that: Applied to a vehicle, the vehicle includes a plurality of domain controllers, the domain controllers include: a body domain controller, and a plurality of cockpit domain controllers; wherein the plurality of cockpit domain controllers are respectively used to control the vehicle-mounted devices in their respective cockpit domains, the body domain controller is used to control the vehicle-mounted devices in the body domain, and the device includes: A first response module, configured to obtain a historical operation mode of the vehicle before the first cockpit domain controller is restarted in response to the first cockpit domain controller among the plurality of cockpit domain controllers being restarted; A first determining module, configured to determine, based on the historical operating mode and the first cockpit domain controller, an associated domain controller related to the historical operating mode among the multiple domain controllers; A synchronization module is used to send a status synchronization instruction to the first cockpit domain controller or the associated domain controller; the status synchronization instruction is used to control the vehicle-mounted equipment within the domain of the first cockpit domain controller or the associated domain controller to enter a target operating state corresponding to the target operating mode after the first cockpit domain controller is restarted.

10. A vehicle, characterized in that: The vehicle includes the vehicle control method according to any one of claims 1 to 8, or the vehicle control device according to claim 9.

11. A computer-readable storage medium, characterized in that: A computer program is stored on the computer-readable storage medium. When the computer program is executed by a computer device, the computer device executes the steps of the vehicle control method according to any one of claims 1 to 8, or the steps of the vehicle control device according to claim 9.

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