Driving control system, driving control method and related device

Abstract

The invention discloses a driving control system, a driving control method and a related device, and belongs to the technical field of vehicles. The driving control system comprises an accelerator pedal position detection unit (1), a first electronic control unit (2) and a second electronic control unit (3), wherein the accelerator pedal position detection unit (1) comprises a position sensor (11), a first signal transmission circuit (12) and a second signal transmission circuit (13). The position sensor (11) can output position signals to the first electronic control unit (2) and the second electronic control unit (3) through the first signal transmission circuit (12) and the second signal transmission circuit (13) respectively. Thus, when one of the first electronic control unit (2) and the second electronic control unit (3) fails, the other electronic control unit can also control the vehicle based on the position signal.

Description

Driving control system, driving control method and related device Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular to a driving control system, a driving control method, and related devices. Background Art

[0002] When driving a vehicle, the driver controls the power output of the vehicle by controlling the angle at which the accelerator pedal is depressed, thereby controlling the vehicle speed.

[0003] To achieve this, a position sensor is installed in the accelerator pedal and electrically connected to an electronic control unit (ECU). The position sensor detects the accelerator pedal's position signal, which in turn controls the vehicle's power output.

[0004] Currently, if the electronic control unit fails, the vehicle cannot run normally, which makes the vehicle less reliable.

[0005] Summary of the Invention

[0006] The present disclosure provides a driving control system, a driving control method, and related devices. A position sensor in the driving control system is connected to a first electronic control unit and a second electronic control unit. If one of the first and second electronic control units fails, the other can still control the vehicle, thereby improving vehicle reliability. The technical solutions of the driving control system, driving control method, and related devices are as follows:

[0007] In a first aspect, the present disclosure provides a driving control system comprising an accelerator pedal position detection unit, a first electronic control unit (ECU), and a second ECU. The accelerator pedal position detection unit comprises a position sensor, a first signal transmission circuit, and a second signal transmission circuit. The position sensor is connected to the first ECU via the first signal transmission circuit, and the position sensor is connected to the second ECU via the second signal transmission circuit.

[0008] The position sensor is used to detect a position signal of the accelerator pedal, which may be an angle signal of the accelerator pedal being depressed. The present disclosure does not limit the type of position sensor. In one possible implementation, the position sensor is a resistive sensor. In another possible implementation, the position sensor is a non-contact sensor, such as a Hall effect sensor.

[0009] The first signal transmission circuit is used to transmit the position signal detected by the position sensor to the first electronic control unit, and the second signal transmission circuit is used to transmit the position signal detected by the position sensor to the second electronic control unit.

[0010] The first electronic control unit and the second electronic control unit are both used to control the power output of the vehicle based on the position signal of the accelerator pedal. In addition, when one of the first electronic control unit and the second electronic control unit fails, the other electronic control unit can still operate normally.

[0011] The technical solution provided by the present disclosure, through the above-mentioned configuration, enables the position signal of the accelerator pedal detected by the position sensor to be transmitted to the first and second electronic control units via the first and second signal transmission circuits. In this way, if one of the first and second electronic control units fails, the other electronic control unit can still control the vehicle based on the accelerator pedal position signal, thereby improving vehicle reliability.

[0012] In one possible implementation, the first signal transmission circuit includes a first position signal circuit and a first ground signal circuit. One end of the first position signal circuit is connected to the position sensor, and the other end is connected to the first signal acquisition terminal of the first electronic control unit. One end of the first ground signal circuit is connected to the position sensor, and the other end is connected to the first ground terminal of the first electronic control unit.

[0013] In one possible implementation, the second signal transmission circuit includes a second position signal circuit, a second ground signal circuit, and a differential operation circuit, wherein the second position signal circuit includes a position signal input circuit and a position signal output circuit, and the second ground signal circuit includes a first ground circuit and a second ground circuit. One end of the position signal input circuit is connected to the position sensor, and the other end is connected to the differential operation circuit. One end of the first ground circuit is connected to the position sensor, and the other end is connected to the differential operation circuit. One end of the position signal output circuit is connected to the differential operation circuit, and the other end is connected to the second signal acquisition terminal of the second electronic control unit. One end of the second ground circuit is connected to the differential operation circuit, and the other end is connected to the second ground terminal of the second electronic control unit. The differential operation circuit is configured to adjust the position signal input by the position signal input circuit relative to the voltage V1 of the first ground circuit so that the position signal output by the position signal output circuit has a linear relationship with the voltage V2 of the second ground circuit and V1.

[0014] Among them, the first grounding circuit can be connected to the first ground signal circuit, and the position signal input circuit can be connected to the first position signal circuit. Then, the voltage of the position signal input circuit relative to the first grounding circuit is the same as the voltage of the first position signal circuit relative to the first ground signal circuit, both of which are V1. V1 corresponds one-to-one to the position of the position sensor, and V1 is the voltage collected by the first signal acquisition end of the first electronic control unit.

[0015] The technical solution provided by the present disclosure adjusts V1 and V2 to a linear relationship by setting a differential operation circuit, so that V2 collected by the second electronic control unit will not be affected by the voltage difference between the first ground terminal and the second ground terminal, and is only related to V1, so that there is a one-to-one correspondence between V1, V2 and the position of the accelerator pedal. Therefore, the position of the accelerator pedal determined by the second electronic control unit based on V2 is more accurate.

[0016] In a possible implementation, V2=k×V1+V0, where V0 is a target non-negative voltage and k is a constant greater than 0.

[0017] The technical solution provided by the present disclosure adjusts V1 and V2 to satisfy the relationship V2 = k × V1 + V0 by setting a differential operation circuit, so that V1 collected by the first electronic control unit and V2 collected by the second electronic control unit are in a linear relationship, and there is no influence of other unknown parameters (such as the pressure difference between the first ground terminal and the second ground terminal). This ensures that there is a one-to-one correspondence between V1, V2 and the position of the accelerator pedal, so that the position of the accelerator pedal determined by the second electronic control unit based on V2 is more accurate.

[0018] Moreover, since k is greater than 0 and V0 is greater than 0v, the position signal output by the position signal output circuit is a non-negative voltage relative to the voltage of the second ground terminal, so that the second signal acquisition terminal of the second electronic control unit will not be unable to normally collect the position signal due to the input negative voltage, thereby improving the robustness of the system.

[0019] In a possible implementation, k×V1max+V0≤V1max, where V1max is the maximum value of V1.

[0020] The technical solution provided by the present disclosure adjusts V1 and V2 to satisfy the relationship k×V1max+V0≤V1max by setting a differential operation circuit, so that the maximum voltage collected by the second electronic control unit does not exceed the maximum voltage allowed to be collected, thereby improving the accuracy and reliability of the system.

[0021] In one possible implementation, the differential operational circuit includes a first operational amplifier, a first resistor, a second resistor, a third resistor, and a fourth resistor. The first operational amplifier has a first positive input terminal, a first negative input terminal, and a first operational output terminal. The position signal input circuit is connected to the first positive input terminal via the first resistor. The first grounding circuit is connected to the first negative input terminal via the fourth resistor. The position signal output circuit is connected to the first operational output terminal, and the first operational output terminal is connected to the first negative input terminal via the third resistor. The second grounding circuit is connected to the first positive input terminal via the second resistor.

[0022] In a possible implementation, the differential operation circuit further includes a boost unit and a fifth resistor, and the boost unit is connected to the first positive input terminal through the fifth resistor.

[0023] The technical solution provided by the present disclosure increases the voltage of the position signal input to the first positive input terminal of the first operational amplifier by providing a boost unit in the differential operational circuit. By properly designing the boost value of the boost unit, it is possible to prevent the first positive input terminal from receiving a negative voltage. Consequently, the first operational amplifier can be selected to be an operational amplifier that can only receive a positive voltage at the first positive input terminal. This expands the range of options for the first operational amplifier and facilitates the implementation of the technical solution.

[0024] In a possible implementation, the boost unit is a power source output by the second electronic control unit.

[0025] In a possible implementation, the position signal input circuit includes a voltage follower, an input end of the voltage follower is connected to the position sensor, and an output end of the voltage follower is connected to the differential operation circuit.

[0026] The input terminal of the voltage follower can be connected to the first position signal circuit. The voltage of the position signal input to the input terminal and the voltage of the position signal output from the output terminal of the voltage follower are the same.

[0027] The technical solution provided by the present disclosure can isolate the influence of the position sensor and the first signal transmission circuit on the differential operation circuit due to the above-mentioned characteristics of the voltage follower.

[0028] In a possible implementation, the accelerator pedal position detection unit further includes a power supply transmission circuit, one end of which is connected to the first power supply end of the first electronic control unit, and the other end of which is connected to the position sensor.

[0029] The technical solution provided by the present disclosure enables the first power supply end of the first electronic control unit to supply power to the position sensor through the above-mentioned configuration, and the implementation is simple and the circuit complexity is low.

[0030] In one possible implementation, the accelerator pedal position detection unit further includes a first input circuit, a second input circuit, a power supply selection circuit, and an output circuit. One end of the first input circuit is connected to the first power supply end of the first electronic control unit, and the other end is connected to the power supply selection circuit. One end of the second input circuit is connected to the second power supply end of the second electronic control unit, and the other end is connected to the power supply selection circuit. One end of the output circuit is connected to the power supply selection circuit, and the other end is connected to the position sensor. The power supply selection circuit is configured to output the electrical energy input by the first input circuit or the electrical energy input by the second input circuit from the output circuit.

[0031] The technical solution provided by the present disclosure, through the above-mentioned configuration, enables that when one of the power supply of the first input circuit and the second input circuit fails, the other circuit can still output power to the position sensor, thereby improving the reliability of the power supply to the position sensor.

[0032] In a possible implementation, the power supply selection circuit is configured to: when the power input of the first input circuit fails and the power input of the second input circuit is normal, output the power input of the second input circuit from the output circuit.

[0033] In a possible implementation, the power supply selection circuit is configured to: when the power input of the first input circuit is normal, output the power input of the first input circuit from the output circuit.

[0034] In a possible implementation, a voltage at the input end of the second input circuit relative to the second ground end of the second electronic control unit is equal to a voltage at the output end of the second input circuit relative to the first ground end of the first electronic control unit.

[0035] In one possible implementation, the second input circuit includes an isolation circuit, wherein an input terminal of the isolation circuit is connected to the second power supply terminal, and an output terminal of the isolation circuit is connected to the power supply selection circuit. A voltage at the input terminal of the isolation circuit relative to a second ground terminal of the second electronic control unit is equal to a voltage at the output terminal of the isolation circuit relative to a first ground terminal of the first electronic control unit.

[0036] The voltage of the first power supply terminal of the first electronic control unit relative to the first ground terminal may be equal to the voltage of the second power supply terminal of the second electronic control unit relative to the second ground terminal, for example, both are 5V.

[0037] The technical solution provided by the present disclosure eliminates the influence of the voltage difference between the first ground terminal and the second ground terminal through the above-mentioned setting, so that the power supply selection circuit outputs the same electric energy whether it is the electric energy input by the first input circuit or the electric energy input by the second input circuit, thereby improving the reliability of power supply and the stability of the voltage collected by the first electronic control unit and the second electronic control unit.

[0038] In one possible implementation, the isolation circuit includes a primary circuit, a transformer, and a secondary circuit, wherein the primary circuit and the secondary circuit are coupled via the transformer. The primary circuit is connected to the second power supply terminal of the second electronic control unit and is grounded via the second ground terminal. The secondary circuit is connected to the power supply selection circuit and is grounded via the first ground terminal.

[0039] In a possible implementation, the transformation ratio of the transformer is 1:1.

[0040] In one possible implementation, there are two position sensors, two first signal transmission circuits, and two second signal transmission circuits. The two position sensors are connected to the first electronic control unit via two first signal transmission circuits, and the two position sensors are connected to the second electronic control unit via two second signal transmission circuits.

[0041] The technical solution provided by the present disclosure, by providing two position sensors, two first signal transmission circuits and two second signal transmission circuits, enables the electronic control unit (the first electronic control unit or the second electronic control unit) to control the power output of the vehicle based on the position signals detected by the two position sensors, thereby improving the control accuracy.

[0042] Moreover, when one position sensor fails, the other position sensor can still transmit the position signal to the electronic control unit, thereby improving the reliability of the driving control system.

[0043] In a possible implementation, the position sensor, the first signal transmission circuit, and the second signal transmission circuit are integrated on the same circuit board.

[0044] In a possible implementation, the first signal transmission circuit is connected to the first electronic control unit through a first wiring harness, and the second signal transmission circuit is connected to the second electronic control unit through a second wiring harness.

[0045] The technical solution provided by the present disclosure uses a first wiring harness to connect the position sensor and the first electronic control unit, and uses a second wiring harness to connect the position sensor and the second electronic control unit, so that when there is a fault between the first wiring harness and the second wiring harness, the other wiring harness can still transmit the position signal to the corresponding electronic control unit, thereby improving the reliability of the driving system.

[0046] In one possible implementation, one of the first and second electronic control units is a vehicle control unit (VCU), and the other is an autonomous driving controller. Alternatively, one of the first and second electronic control units is an engine management system (EMS), and the other is an autonomous driving controller. The autonomous driving controller is configured to control the vehicle's power output based on an accelerator pedal position signal detected by the position sensor when the vehicle control unit or the engine control unit fails.

[0047] The vehicle controller refers to the controller in an electric vehicle that controls the vehicle in manual driving mode based on the accelerator pedal position signal. The engine controller refers to the controller in a gasoline vehicle that controls the vehicle in manual driving mode based on the accelerator pedal position signal. The autonomous driving controller refers to the controller that automatically controls the vehicle in autonomous driving mode. The autonomous driving controller can also be called an assisted driving controller or an autonomous driving full-stack solution (ADS) controller.

[0048] The technical solution provided by this disclosure utilizes the vehicle's own vehicle controller (or engine controller) and autonomous driving controller as the first and second electronic control units, eliminating the need to add new electronic control units to the vehicle, reducing implementation costs and facilitating the implementation of the technical solution. Furthermore, this setup reuses the autonomous driving controller as a controller for manual driving mode, improving the reliability of the driving system.

[0049] In a possible implementation manner, the first electronic control unit and the second electronic control unit are connected.

[0050] In a second aspect, the present disclosure provides an accelerator pedal position detection unit, comprising a position sensor, a first signal transmission circuit, and a second signal transmission circuit. The position sensor is connected to the first signal transmission circuit and the second signal transmission circuit. The first signal transmission circuit is configured to connect to a first electronic control unit, and the second signal transmission circuit is configured to connect to a second electronic control unit.

[0051] In one possible implementation, the first signal transmission circuit includes a first position signal circuit and a first ground signal circuit; one end of the first position signal circuit is connected to the position sensor, and the other end is used to connect to the first signal acquisition end of the first electronic control unit; one end of the first ground signal circuit is connected to the position sensor, and the other end is used to connect to the first ground end of the first electronic control unit.

[0052] In one possible implementation, the second signal transmission circuit includes a second position signal circuit, a second ground signal circuit, and a differential operation circuit, wherein the second position signal circuit includes a position signal input circuit and a position signal output circuit, and the second ground signal circuit includes a first ground circuit and a second ground circuit. One end of the position signal input circuit is connected to the position sensor, and the other end is connected to the differential operation circuit. One end of the first ground circuit is connected to the position sensor, and the other end is connected to the differential operation circuit. One end of the position signal output circuit is connected to the differential operation circuit, and the other end is used to connect to the second signal acquisition terminal of the second electronic control unit. One end of the second ground circuit is connected to the differential operation circuit, and the other end is used to connect to the second ground terminal of the second electronic control unit. The differential operation circuit is configured to adjust the position signal input by the position signal input circuit relative to the voltage V1 of the first ground circuit so that the position signal output by the position signal output circuit has a linear relationship with the voltage V2 of the second ground circuit and V1.

[0053] In a possible implementation, V2=k×V1+V0, where V0 is a target non-negative voltage and k is a constant greater than 0.

[0054] In a possible implementation, k×V1max+V0≤V1max, where V1max is the maximum value of V1.

[0055] In one possible implementation, the differential operational circuit includes a first operational amplifier, a first resistor, a second resistor, a third resistor and a fourth resistor; the first operational amplifier has a first positive input terminal, a first negative input terminal and a first operational output terminal; the position signal input circuit is connected to the first positive input terminal through the first resistor; the first grounding circuit is connected to the first negative input terminal through the fourth resistor; the position signal output circuit is connected to the first operational output terminal, and the first operational output terminal is connected to the first negative input terminal through the third resistor; the second grounding circuit is connected to the first positive input terminal through the second resistor.

[0056] In one possible implementation, the differential operation circuit further includes a boost unit and a fifth resistor; the boost unit is connected to the first positive input terminal through the fifth resistor, and the boost unit is used to make the voltage input to the first positive input terminal greater than or equal to 0.

[0057] In a possible implementation, the boost unit is a power source output by the second electronic control unit.

[0058] In a possible implementation, the position signal input circuit includes a voltage follower; an input end of the voltage follower is connected to the position sensor, and an output end of the voltage follower is connected to the differential operation circuit.

[0059] In a possible implementation, the accelerator pedal position detection unit further includes a power supply transmission circuit, one end of the power supply transmission circuit is used to be connected to the first power supply end of the first electronic control unit, and the other end is connected to the position sensor.

[0060] In one possible implementation, the accelerator pedal position detection unit further includes a first input circuit, a second input circuit, a power supply selection circuit, and an output circuit. One end of the first input circuit is used to connect to the first power supply end of the first electronic control unit, and the other end is used to connect to the power supply selection circuit. One end of the second input circuit is used to connect to the second power supply end of the second electronic control unit, and the other end is connected to the power supply selection circuit. One end of the output circuit is connected to the power supply selection circuit, and the other end is connected to the position sensor. The power supply selection circuit is configured to output the electrical energy input by the first input circuit, or the electrical energy input by the second input circuit, from the output circuit.

[0061] In a possible implementation, the power supply selection circuit is configured to: when the power input of the first input circuit fails and the power input of the second input circuit is normal, output the power input of the second input circuit from the output circuit.

[0062] In a possible implementation, the power supply selection circuit is configured to: when the power input of the first input circuit is normal, output the power input of the first input circuit from the output circuit.

[0063] In one possible implementation, the second input circuit includes an isolation circuit, wherein an input terminal of the isolation circuit is connected to the second power supply terminal, and an output terminal of the isolation circuit is connected to the power supply selection circuit. A voltage at the input terminal of the isolation circuit relative to a second ground terminal of the second electronic control unit is equal to a voltage at the output terminal of the isolation circuit relative to a first ground terminal of the first electronic control unit.

[0064] In one possible implementation, the isolation circuit includes a primary circuit, a transformer, and a secondary circuit, wherein the primary circuit and the secondary circuit are coupled via the transformer. The primary circuit is configured to be connected to the second power supply terminal of the second electronic control unit and to be grounded via the second ground terminal. The secondary circuit is connected to the power supply selection circuit and to be grounded via the first ground terminal.

[0065] In a possible implementation, the transformation ratio of the transformer is 1:1.

[0066] In one possible implementation, there are two position sensors, two first signal transmission circuits, and two second signal transmission circuits. The two position sensors are connected to the first electronic control unit via two first signal transmission circuits, and the two position sensors are connected to the second electronic control unit via two second signal transmission circuits.

[0067] In a possible implementation, the position sensor, the first signal transmission circuit, and the second signal transmission circuit are integrated on the same circuit board.

[0068] In a possible implementation, the first signal transmission circuit is used to connect to the first electronic control unit through a first wiring harness, and the second signal transmission circuit is used to connect to the second electronic control unit through a second wiring harness.

[0069] In one possible implementation, one of the first and second electronic control units is a vehicle controller, and the other is an autonomous driving controller. Alternatively, one of the first and second electronic control units is an engine controller, and the other is an autonomous driving controller. The autonomous driving controller is configured to control the vehicle's power output based on an accelerator pedal position signal detected by the position sensor when the vehicle controller or the engine controller fails.

[0070] In a third aspect, the present disclosure provides an accelerator pedal, comprising an accelerator pedal structure and an accelerator pedal position detection unit as described in any one of the second aspects.

[0071] In a fourth aspect, the present disclosure provides a vehicle, comprising a driving control system as described in any one of the first aspects.

[0072] In a fifth aspect, the present disclosure provides a driving control method, applied to the driving control system according to any one of the first aspects, the driving control method comprising: the second electronic control unit detecting a fault in the first electronic control unit; and the second electronic control unit controlling a power output of a vehicle based on a position signal received via the second signal transmission circuit.

[0073] The technical solution provided by the present disclosure, through the above-mentioned setting, enables the second electronic control unit to control the power output of the vehicle based on the position signal of the accelerator pedal when the first electronic control unit fails, thereby improving the reliability of the vehicle.

[0074] In one possible implementation, before the second electronic control unit controls the power output of the vehicle based on the position signal received through the second signal transmission circuit, the driving control method further includes: the second electronic control unit detects that the vehicle is shut down and then restarts.

[0075] The technical solution provided by the present disclosure can improve the driving safety of the vehicle by allowing the second electronic control unit to take over the power output control of the vehicle when the vehicle is restarted after being shut down after a failure of the first electronic control unit, and avoid the situation where the second electronic control unit suddenly takes over the power output control of the vehicle when the driver suddenly steps on the accelerator pedal due to failure of the accelerator pedal, resulting in instantaneous acceleration of the vehicle.

[0076] In a possible implementation, the driving control method further includes: when the first electronic control unit is normal, the first electronic control unit controls the power output of the vehicle based on the position signal received through the first signal transmission circuit.

[0077] In one possible implementation, after the second electronic control unit controls the power output of the vehicle based on the position signal received via the second signal transmission circuit, the driving control method further includes: if the first electronic control unit is normal, the first electronic control unit controls the power output of the vehicle based on the position signal received via the first signal transmission circuit.

[0078] In a possible implementation, before the first electronic control unit controls the power output of the vehicle based on the position signal received through the first signal transmission circuit, the driving control method further includes: the first electronic control unit detects that the vehicle is shut down and then restarts.

[0079] In a sixth aspect, the present disclosure provides a driving control method, which is applied in a second electronic control unit of a driving control system as described in any one of the first aspects, and the driving control method includes: detecting a fault in the first electronic control unit; and controlling the power output of the vehicle based on a position signal received through the second signal transmission circuit.

[0080] When the first electronic control unit is normal, the power output of the vehicle can be controlled by the first electronic control unit.

[0081] The technical solution provided by the present disclosure, through the above-mentioned setting, enables the second electronic control unit to control the power output of the vehicle based on the position signal of the accelerator pedal when the first electronic control unit fails, thereby improving the reliability of the vehicle.

[0082] In a possible implementation, before controlling the power output of the vehicle based on the position signal received through the second signal transmission circuit, the method further includes: restarting the vehicle after detecting that the vehicle is shut down.

[0083] The technical solution provided by the present disclosure can improve the driving safety of the vehicle by allowing the second electronic control unit to take over the power output control of the vehicle when the vehicle is restarted after being shut down after a failure of the first electronic control unit, and avoid the situation where the second electronic control unit suddenly takes over the power output control of the vehicle when the driver suddenly steps on the accelerator pedal due to failure of the accelerator pedal, resulting in instantaneous acceleration of the vehicle.

[0084] In a seventh aspect, the present disclosure provides a driving control device, wherein the driving control device is configured in a second electronic control unit of the driving control system according to any one of the first aspects, and the driving control device includes:

[0085] A detection module is used to detect a fault in the first electronic control unit.

[0086] A control module is configured to control a power output of the vehicle based on the position signal received through the second signal transmission circuit.

[0087] In a possible implementation, before the control module controls the power output of the vehicle based on the position signal received through the second signal transmission circuit, the detection module is further configured to detect that the vehicle is restarted after being shut down.

[0088] In an eighth aspect, the present disclosure provides a computer-readable storage medium, wherein at least one instruction is stored in the computer-readable storage medium, and the instruction is loaded and executed by a controller to implement the driving control method as described in any one of the sixth aspects.

[0089] In a ninth aspect, the present disclosure provides a computer program product, which includes at least one instruction, and the instruction is executed by an electronic control unit so that the electronic control unit implements the driving control method as described in any one of the sixth aspects.

[0090] In the tenth aspect, the present disclosure provides a chip, which includes a controller, and the controller is used to call and run instructions stored in the memory from the memory, so that the electronic control unit equipped with the chip executes the driving control method described in any one of the above-mentioned sixth aspects.

[0091] In the eleventh aspect, the present disclosure provides another chip, which includes: an input interface, an output interface, a controller and a memory, wherein the input interface, the output interface, the controller and the memory are connected through an internal connection path, and the controller is used to execute the code in the memory. When the code is executed, the controller is used to execute the driving control method described in any one of the above-mentioned sixth aspects.

[0092] In the twelfth aspect, the present disclosure provides an electronic control unit, which includes a controller coupled to a memory; the memory stores at least one instruction, and the at least one instruction is loaded and executed by the controller to implement the driving control method as described in any one of the sixth aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0093] FIG1 is a schematic diagram of a driving control system for an electric vehicle provided in an embodiment of the present disclosure;

[0094] FIG2 is a schematic diagram of a driving control system for a fuel vehicle provided in an embodiment of the present disclosure;

[0095] FIG3 is a schematic diagram of a driving control system provided by an embodiment of the present disclosure;

[0096] FIG4 is a schematic diagram of a driving control system provided by an embodiment of the present disclosure;

[0097] FIG5 is a schematic diagram of a differential operation circuit provided by an embodiment of the present disclosure;

[0098] FIG6 is a schematic diagram of a differential operation circuit provided by an embodiment of the present disclosure;

[0099] FIG7 is a schematic diagram of a differential operation circuit provided by an embodiment of the present disclosure;

[0100] FIG8 is a schematic diagram of a differential operation circuit provided by an embodiment of the present disclosure;

[0101] FIG9 is a schematic diagram of a differential operation circuit provided by an embodiment of the present disclosure;

[0102] FIG10 is a schematic diagram of a driving control system provided by an embodiment of the present disclosure;

[0103] FIG11 is a schematic diagram of a voltage follower provided by an embodiment of the present disclosure;

[0104] FIG12 is a schematic diagram of a voltage follower provided by an embodiment of the present disclosure;

[0105] FIG13 is a schematic diagram of a driving control system provided by an embodiment of the present disclosure;

[0106] FIG14 is a schematic diagram of a power supply selection circuit provided in an embodiment of the present disclosure;

[0107] FIG15 is a schematic diagram of a power supply selection circuit provided in an embodiment of the present disclosure;

[0108] FIG16 is a schematic diagram of a driving control system provided by an embodiment of the present disclosure;

[0109] FIG17 is a schematic diagram of an isolation circuit provided by an embodiment of the present disclosure;

[0110] FIG18 is a schematic diagram of a driving control system provided by an embodiment of the present disclosure;

[0111] FIG19 is a schematic diagram of an electric vehicle driving control system provided by an embodiment of the present disclosure;

[0112] FIG20 is a schematic diagram of a fuel vehicle driving control system provided by an embodiment of the present disclosure;

[0113] FIG21 is a flow chart of a driving control method provided by an embodiment of the present disclosure;

[0114] FIG22 is a flow chart of a driving control method provided by an embodiment of the present disclosure;

[0115] FIG23 is a schematic diagram of a driving control device provided by an embodiment of the present disclosure;

[0116] FIG24 is a schematic diagram of an electronic control unit provided in an embodiment of the present disclosure.

[0117] Legend

[0118] 1. Accelerator pedal position detection unit, 10. Circuit board, 11. Position sensor;

[0119] 12. First signal transmission circuit, 121. First position signal circuit, 122. First ground signal circuit;

[0120] 13. Second signal transmission circuit, 131. Second position signal circuit, 1311. Position signal input circuit, 13111. Voltage follower, 131111. Second operational amplifier, 131111a. Second positive input terminal, 131111b. Second negative input terminal, 131111c. Second operational output terminal, 1312. Position signal output circuit;

[0121] 132, second ground signal circuit, 1321, first ground circuit, 1322, second ground circuit;

[0122] 133. Differential operational circuit, 1331. First operational amplifier, 1331a. First positive input terminal, 1331b. First negative input terminal, 1331c. First operational output terminal, 1332. First resistor, 1333. Second resistor, 1334. Third resistor, 1335. Fourth resistor, 1336. Boost unit, 1337. Fifth resistor.

[0123] 14. Operational amplifier power supply circuit;

[0124] 15. Power supply transmission circuit;

[0125] 16. First input circuit, 17. Second input circuit, 170. Isolation circuit, 171. Primary circuit, 172. Transformer, 173. Secondary circuit, 18. Power supply selection circuit, 181. NMOS transistor, 182. First PMOS transistor, 183. Second PMOS transistor, 184. Sixth resistor, 185. Seventh resistor, 19. Output circuit;

[0126] 2. First electronic control unit, 21. First signal acquisition terminal, 22. First ground terminal, 23. First power supply terminal;

[0127] 3. Second electronic control unit, 31. Second signal acquisition terminal, 32. Second ground terminal, 33. Second power supply terminal;

[0128] 4. Frame. DETAILED DESCRIPTION

[0129] The accelerator pedal is an integral part of the driving control system. When driving a vehicle, the driver controls the power output of the vehicle by controlling the angle at which the accelerator pedal is stepped on, thereby controlling the vehicle speed.

[0130] To achieve this, a position sensor is installed in the accelerator pedal and connected to an electronic control unit (ECU). The sensor detects the accelerator pedal's position (e.g., the angle at which it is depressed) and outputs a position signal to the ECU. The ECU then controls the vehicle's power output based on the accelerator pedal's position signal.

[0131] As shown in Figure 1, for electric vehicles, the electronic control unit is the vehicle control unit (VCU). The vehicle control unit sends a torque control signal to the motor controller based on the position signal of the accelerator pedal detected by the position sensor. The motor controller controls the torque of the motor based on the torque control signal, thereby completing the control of the vehicle speed.

[0132] As shown in FIG2 , for a fuel vehicle, the electronic control unit is the engine management system (EMS), which controls the throttle opening based on the accelerator pedal position signal detected by the position sensor, thereby controlling the vehicle speed.

[0133] However, whether it is an electric vehicle or a fuel vehicle, if the electronic control unit (vehicle controller or engine controller) fails, the vehicle will not be able to run normally, which makes the vehicle reliability poor.

[0134] In view of the above technical problems, an embodiment of the present disclosure provides a driving control system, in which a position sensor is connected to two electronic control units, so that when one electronic control unit fails, the other electronic control unit can still control the power output of the vehicle based on the position signal detected by the position sensor, thereby improving the reliability of the vehicle.

[0135] The following is an exemplary description of the driving control system provided by the embodiment of the present disclosure:

[0136] As shown in Figures 3 and 4, the driving control system includes an accelerator pedal position detection unit 1, a first electronic control unit 2, and a second electronic control unit 3. The accelerator pedal position detection unit 1 includes a position sensor 11, a first signal transmission circuit 12, and a second signal transmission circuit 13. The position sensor 11 is connected to the first electronic control unit 2 via the first signal transmission circuit 12, and is connected to the second electronic control unit 3 via the second signal transmission circuit 13.

[0137] The position sensor 11 is used to detect the position signal of the accelerator pedal, for example, the angle at which the accelerator pedal is depressed. The disclosed embodiments do not limit the type of the position sensor 11. In some examples, the position sensor 11 is a resistive sensor, while in other examples, the position sensor 11 is a non-contact sensor, for example, a Hall effect sensor.

[0138] The first signal transmission circuit 12 is used to transmit the position signal detected by the position sensor 11 to the first electronic control unit 2 , and the second signal transmission circuit 13 is used to transmit the position signal detected by the position sensor 11 to the second electronic control unit 3 .

[0139] The first electronic control unit 2 and the second electronic control unit 3 are both used to control the power output of the vehicle based on the position signal of the accelerator pedal. In addition, if one of the first electronic control unit 2 and the second electronic control unit 3 fails, the other electronic control unit can still operate normally.

[0140] The technical solution provided by the embodiments of the present disclosure, through the above-described configuration, enables the position signal of the accelerator pedal detected by the position sensor 11 to be transmitted to the first electronic control unit 2 and the second electronic control unit 3 via the first signal transmission circuit 12 and the second signal transmission circuit 13, respectively. In this way, if one of the first electronic control unit 2 and the second electronic control unit 3 fails, the other electronic control unit can still control the vehicle based on the accelerator pedal position signal, thereby improving the reliability of the driving control system and the vehicle.

[0141] The following is an exemplary description of the implementation of the first signal transmission circuit 12 and the second signal transmission circuit 13 provided in the embodiment of the present disclosure:

[0142] First signal transmission circuit 12:

[0143] In some examples, as shown in Figures 3 and 4, the first signal transmission circuit 12 includes a first position signal circuit 121 and a first ground signal circuit 122. One end of the first position signal circuit 121 is connected to the position sensor 11, and the other end is connected to the first signal acquisition terminal 21 of the first electronic control unit 2. One end of the first ground signal circuit 122 is connected to the position sensor 11, and the other end is connected to the first ground terminal 22 of the first electronic control unit 2.

[0144] The first grounding terminal 22 of the first electronic control unit 2 is grounded. The embodiment of the present disclosure does not limit the implementation method of grounding the first grounding terminal 22. In some examples, as shown in FIG3 , the first grounding terminal 22 is connected to the vehicle frame 4, for example, by a ground connection, and the first grounding terminal 22 is grounded through the vehicle frame 4.

[0145] The first signal acquisition terminal 21 of the first electronic control unit 2 is used to acquire the position signal output by the first position signal circuit 121 . The position signal is a voltage of the signal, and the reference ground of the voltage is the first ground terminal 22 .

[0146] When the first electronic control unit 2 controls the power output of the vehicle, when the driver steps on the accelerator pedal, the state of the first position sensor 11 changes, and the voltage output by the first position signal circuit 121 changes. The first electronic control unit 2 collects this voltage and controls the power output of the vehicle based on the change in this voltage.

[0147] Second signal transmission circuit 13:

[0148] In some examples, as shown in FIG3 , the second signal transmission circuit 13 includes a second position signal circuit 131 and a second ground signal circuit 132. One end of the second position signal circuit 131 is connected to the position sensor 11, and the other end is connected to the second signal acquisition terminal 31 of the second electronic control unit 3. One end of the second ground signal circuit 132 is connected to the position sensor 11, and the other end is grounded to the second ground terminal 32 of the second electronic control unit 3.

[0149] In some examples, as shown in FIG. 3 , the second position signal circuit 131 is connected to the first position signal circuit 121 , and the second ground signal circuit 132 is connected to the first ground signal circuit 122 .

[0150] The second grounding terminal 32 of the second electronic control unit 3 is grounded. The embodiment of the present disclosure does not limit the implementation method of grounding the second grounding terminal 32. In some examples, as shown in FIG3 , the second grounding terminal 32 is connected to the vehicle frame 4, for example, by a ground connection, and the second grounding terminal 32 is grounded through the vehicle frame 4.

[0151] The second signal acquisition terminal 31 of the second electronic control unit 3 is used to acquire the position signal output by the second position signal circuit 131 . The position signal is the voltage of the signal output by the second position signal circuit 131 , and the reference ground of the voltage is the second ground terminal 32 .

[0152] When the second electronic control unit 3 controls the power output of the vehicle, when the driver steps on the accelerator pedal, the state of the first position sensor 11 changes, and the voltage output by the second position signal circuit 131 changes. The second electronic control unit 3 collects this voltage and controls the power output of the vehicle based on the change in this voltage.

[0153] It should be noted that because the first ground terminal 22 of the first electronic control unit 2 and the second ground terminal 32 of the second electronic control unit 3 are generally grounded at different grounding points on the vehicle frame 4, the first ground terminal 22 and the second ground terminal 32 may not be at the same potential, and a voltage difference may exist. According to the automotive standard ISO 16750 regarding ground potential differences between components within a vehicle, the maximum allowable voltage difference is 1V.

[0154] If the first position signal circuit 121 and the second position signal circuit 131 are connected, the potential of the first position signal circuit 121 is the same as the potential of the second position signal circuit 131, and the first signal acquisition terminal 21 of the first electronic control unit 2 and the second signal acquisition terminal 31 of the second electronic control unit 3 are at the same potential. However, if the reference grounds of the first signal acquisition terminal 21 and the second signal acquisition terminal 31 are different (that is, there is a potential difference between the first ground terminal 22 and the second ground terminal 32), the voltages collected by the first electronic control unit 2 and the second electronic control unit 3 will also be different.

[0155] For example, assume that the voltage of the first ground terminal 22 relative to the second ground terminal 32 is Vd. If the voltage collected by the first electronic control unit 2 is V1 (i.e., the voltage of the first signal collection terminal 21 relative to the first ground terminal 22 is V1), then the voltage collected by the second electronic control unit 3 is V2 = V1 + Vd (i.e., the voltage of the second signal collection terminal 31 relative to the second ground terminal 32 is V2 = V1 + Vd). In actual applications, Vd will change over time, so the specific value of V2 will be uncertain under the same V1.

[0156] The technical solution shown in Figure 3 will cause the first ground terminal 22 and the second ground terminal 32 to be directly short-circuited together. Due to the existence of Vd, the collected position signal will produce irregular deviations (the potential of the ground terminal is unclear), and may cause V2 to be less than 0v. For example, V1=0.5v, Vd=-1v, then V2=-0.5v. If the second electronic control unit 3 cannot collect negative pressure, the second electronic control unit 3 will not work normally.

[0157] In order to at least solve some of the above technical problems, in some examples, Vd can be set equal to 0v, that is, the first ground terminal 22 and the second ground terminal 32 are set to the same potential, and the technical solution shown in Figure 3 can be normally adopted.

[0158] In other examples, as shown in FIG. 4 , a differential operation circuit 133 may be provided to adjust the voltage of the position signal output to the second electronic control unit 3 to remove the influence of Vd.

[0159] Exemplarily, as shown in FIG4 , the second signal transmission circuit 13 includes a second position signal circuit 131, a second ground signal circuit 132, and a differential operation circuit 133. The second position signal circuit 131 includes a position signal input circuit 1311 and a position signal output circuit 1312, and the second ground signal circuit 132 includes a first ground circuit 1321 and a second ground circuit 1322. One end of the position signal input circuit 1311 is connected to the position sensor 11, and the other end is connected to the differential operation circuit 133. One end of the first ground circuit 1321 is connected to the position sensor 11, and the other end is connected to the differential operation circuit 133. One end of the position signal output circuit 1312 is connected to the differential operation circuit 133, and the other end is connected to the second signal acquisition terminal 31 of the second electronic control unit 3. One end of the second ground circuit 1322 is connected to the differential operation circuit 133, and the other end is connected to the second ground terminal 32 of the second electronic control unit 3. The differential operation circuit 133 is configured to adjust the position signal input by the position signal input circuit 1311 relative to the voltage V1 of the first ground circuit 1321 so that the position signal output by the position signal output circuit 1312 is in a linear relationship with the voltage V2 and V1 of the second ground circuit 1322.

[0160] As shown in FIG4 , the position signal input circuit 1311 can be connected to the first position signal circuit 121, and the first ground circuit 1321 can be connected to the first ground signal circuit 122. Thus, the position signal input circuit 1311 and the first position signal circuit 121 are at the same potential, and the first ground circuit 1321 and the first ground signal circuit 122 are at the same potential. Therefore, the voltage of the position signal input by the position signal input circuit 1311 relative to the first ground circuit 1321 is equal to the voltage of the first position signal circuit 121 relative to the first ground signal circuit 122. This voltage is denoted as V1, where V1 is the voltage collected by the first signal collection terminal 21 of the first electronic control unit 2.

[0161] The technical solution provided by the embodiment of the present disclosure eliminates the influence of Vd by setting the V2 collected by the second signal acquisition terminal 31 of the second electronic control unit 3 and the V1 collected by the first signal acquisition terminal 21 of the first electronic control unit 2 to be in a linear relationship, so that V2, V1 and the position of the accelerator pedal correspond one to one, and the position of the accelerator pedal determined by the second electronic control unit 3 based on V2 is more accurate.

[0162] In some examples, V2 = k× V1 + V0 , where V0 is a target non-negative voltage and k is a constant greater than 0.

[0163] Since k is a constant greater than 0, V0 is a non-negative voltage value, and V1 is greater than or equal to 0, V2 is also greater than or equal to 0, and V2 is a non-negative voltage value, so that the second electronic control unit 3 will not collect negative pressure.

[0164] Furthermore, there is no influence of other unknown parameters (such as Vd) in this relationship, so V2, V1 and the position of the accelerator pedal correspond one to one, making the position of the accelerator pedal determined by the second electronic control unit 3 based on V2 more accurate.

[0165] In addition, assuming that the maximum voltage that the second electronic control unit 3 can collect is V2max, k×V1max+V0 should be less than or equal to V2max, where V1max is the maximum voltage of the position signal output by the first position signal circuit 121 relative to the first ground terminal 22.

[0166] Generally speaking, the maximum voltage that can be collected by the first electronic control unit 2 and the second electronic control unit 3 is the same, that is, V1max=V2max, so k×V1max+V0≤V1max.

[0167] The following is an exemplary description of the implementation of the differential operation circuit 133:

[0168] As shown in FIG5 , the differential operation circuit 133 includes a first operational amplifier 1331, a first resistor 1332, a second resistor 1333, a third resistor 1334, and a fourth resistor 1335. The first operational amplifier 1331 has a first positive input terminal 1331a, a first negative input terminal 1331b, and a first operational output terminal 1331c. The position signal input circuit 1311 is connected to the first positive input terminal 1331a via the first resistor 1332, and the first ground circuit 1321 is connected to the first negative input terminal 1331b via the fourth resistor 1335. The position signal output circuit 1312 is connected to the first operational output terminal 1331c, which is connected to the first negative input terminal 1331b via the third resistor 1334. The second ground circuit 1322 is connected to the first positive input terminal 1331a via the second resistor 1333.

[0169] The resistance value of the first resistor 1332 is R1, the resistance value of the second resistor 1333 is R2, the resistance value of the third resistor 1334 is R3, and the resistance value of the fourth resistor 1335 is R4. Assuming that the voltage of the second ground terminal 32 is 0V and the voltage of the first ground terminal 22 is Vd (i.e., the voltage difference between the first ground terminal 22 and the second ground terminal 32 is Vd), the voltage input to the first ground circuit 1321 is Vd, and the voltage input to the position signal input circuit 1311 is V1+Vd.

[0170] The operational amplifier (first operational amplifier 1331) has the following characteristics: the first positive input terminal 1331a and the first negative input terminal 1331b of the first operational amplifier 1331 have the same potential (assuming that the voltage relative to the second ground terminal 32 is Vin). In addition, the current between the first positive input terminal 1331a and the first negative input terminal 1331b is zero.

[0171] Based on the above characteristics, the current situation of the differential operation circuit 133 is shown in FIG6 , wherein “X” in FIG6 indicates that no current flows through the circuit, and the following relationship exists: I1=I2, I3=I4.

[0172] in, Substituting into the formula I1=I2, we can get

[0173] Further deduction shows that

[0174] Substituting into the formula I3=I4, we can get

[0175] Further deduction shows that

[0176] Substituting (1) into (2), we can obtain the relationship between V2 and V1:

[0177]

[0178] In order to eliminate the influence of Vd in the relationship between V2 and V1, set That is, R1, R2, R3 and R4 satisfy the following relationship:

[0179] Further deduction shows that the relationship between V2 and V1 can be transformed into: in, This is the above-mentioned k, and in the circuit diagrams shown in FIG5 and FIG6 , V0 = 0v.

[0180] The embodiments of the present disclosure do not limit the specific values ​​of R1, R2, R3 and R4. In some examples, R1 = 10 kΩ, R2 = 10 kΩ, R3 = 10 kΩ, R4 = 10Ω, and V2 = V1.

[0181] It should be noted that for the differential operation circuit 133 shown in Figures 5 and 6, the first positive input terminal 1331a of the first operational amplifier 1331 may input a negative voltage. For example, if V1 = 0.5V, Vd = -1V, then Vin < 0.

[0182] In order to prevent the input negative voltage from affecting the normal operation of the first operational amplifier 1331 , the first operational amplifier 1331 needs to be an operational amplifier that can tolerate the input negative voltage.

[0183] Of course, in other examples, Vin may also be boosted so that a negative voltage is not input to the first positive input terminal 1331a of the first operational amplifier 1331, thereby expanding the selection range of the first operational amplifier 1331.

[0184] Exemplarily, as shown in FIG7 , the differential operation circuit 133 further includes a boost unit 1336 and a fifth resistor 1337 , and the boost unit 1336 is connected to the first positive input terminal 1331 a through the fifth resistor 1337 .

[0185] The resistance of the fifth resistor 1337 is R5 , and the voltage of the boost unit 1336 relative to the second ground terminal 32 is V3 .

[0186] Based on the characteristics of the above operational amplifier, the current situation of the differential operation circuit 133 is shown in Figure 8, where the "X" in Figure 8 indicates that no current flows through the circuit, and the following relationship exists: I1+I5=I2, I3=I4.

[0187] in, Substituting into the formula I1+I5=I2, we can get Further deduction shows that

[0188] Substituting equation (3) into equation (2) above, we can obtain the relationship between V2 and V1:

[0189]

[0190] To eliminate the influence of Vd in the relationship between V2 and V1, set That is, R1, R2, R3, R4 and R5 satisfy the following relationship:

[0191] Further deduction shows that the relationship between V2 and V1 can be transformed into: in, That is the k mentioned above, This is the above-mentioned V0.

[0192] The embodiments of the present disclosure do not limit the specific values ​​of R1, R2, R3, R4 and R5. In some examples, R1 = 10kΩ, R2 = 10kΩ, R3 = 8kΩ, R4 = 10kΩ, R5 = 40kΩ, then V2 = 0.8V1 + 0.2V3.

[0193] The embodiment of the present disclosure does not limit the specific value of V3, as long as V3 can prevent Vin from inputting a negative voltage. In some examples, V3 = 5V, then V2 = 0.8V1 + 1v.

[0194] The embodiment of the present disclosure does not limit the source of the boost unit 1336 . In some examples, as shown in FIG9 , the boost unit 1336 is the power source output by the second power supply terminal 33 of the second electronic control unit 3 .

[0195] In addition, the first operational amplifier 1331 requires power supply before it can be used. As shown in Figure 9, the negative power supply terminal (Vcc-) of the first operational amplifier 1331 is connected to the second ground terminal 32, and the positive power supply terminal (Vcc+) is connected to the second power supply terminal 33 through the operational amplifier power supply circuit 14.

[0196] In some examples, as shown in FIG. 10 , the position signal input circuit 1311 includes a voltage follower 13111 , an input end of the voltage follower 13111 is connected to the position sensor 11 , and an output end of the voltage follower 13111 is connected to the differential operation circuit 133 .

[0197] The voltage follower 13111 may be connected to the first position signal circuit 121 , and the voltage of the position signal input to the input end of the voltage follower 13111 is equal to the voltage of the position signal output.

[0198] The voltage follower 13111 can isolate the position sensor 11 from the differential operation circuit 133 , thereby preventing the first position signal circuit 121 and the position sensor 11 from affecting the differential operation circuit 133 .

[0199] The following is an exemplary description of the implementation of the voltage follower 13111:

[0200] As shown in FIG11 , voltage follower 13111 includes a second operational amplifier 131111, which includes a second positive input terminal 131111a, a second negative input terminal 131111b, and a second operational output terminal 131111c. Position sensor 11 is connected to second positive input terminal 131111a, second operational output terminal 131111c is connected to second negative input terminal 131111b, and second operational output terminal 131111c is connected to differential operation circuit 133.

[0201] Combining the above characteristics of the operational amplifier, the potentials of the second positive input terminal 131111a and the second negative input terminal 131111b are the same, both being Vin. Furthermore, the potential of the second operational output terminal 131111c is the same as the potential of the second negative input terminal 131111b, that is, Vout=Vin.

[0202] The signal input to second positive input terminal 131111a has a voltage of V1 relative to first ground terminal 22, which is converted to a voltage of V1 + Vd relative to second ground terminal 32. Therefore, Vout = Vin = V1 + Vd. In other words, the voltage input to differential operation circuit 133 at second operational output terminal 131111c is V1 + Vd. As can be seen, the presence of voltage follower 13111 does not affect the magnitude of the voltage output from position signal input circuit 1311 to differential operation circuit 133.

[0203] In addition, the second operational amplifier 131111 needs to be powered before it can be used. As shown in Figure 12, the negative power supply terminal (Vcc-) of the second operational amplifier 131111 is connected to the first ground terminal 22, and the positive power supply terminal (Vcc+) is connected to the first power supply terminal 23 of the first electronic control unit 2.

[0204] Next, the power supply method of the position sensor 11 is described:

[0205] In some examples, as shown in Figures 3, 4 and 10, the accelerator pedal position detection unit 1 also includes a power supply transmission circuit 15, one end of the power supply transmission circuit 15 is connected to the first power supply end 23 of the first electronic control unit 2, and the other end is connected to the position sensor 11, then the first power supply end 23 of the first electronic control unit 2 can supply power to the position sensor 11 through the power supply transmission circuit 15.

[0206] In other examples, as shown in Figures 13 and 16, the accelerator pedal position detection unit 1 further includes a first input circuit 16, a second input circuit 17, a power supply selection circuit 18, and an output circuit 19. One end of the first input circuit 16 is connected to the first power supply terminal 23 of the first electronic control unit 2, and the other end is connected to the power supply selection circuit 18. One end of the second input circuit 17 is connected to the second power supply terminal 33 of the second electronic control unit 3, and the other end is connected to the power supply selection circuit 18. One end of the output circuit 19 is connected to the power supply selection circuit 18, and the other end is connected to the position sensor 11. The power supply selection circuit 18 is configured to output the electrical energy input by the first input circuit 16 or the electrical energy input by the second input circuit 17 from the output circuit 19.

[0207] By setting up the power supply selection circuit 18, the position sensor 11 can be connected to the power supply of the first electronic control unit 2 and the second electronic control unit 3 at the same time. Therefore, when any power supply fails, the position sensor 11 can also be powered by the other power supply, thereby ensuring the reliability of the driving control system.

[0208] The embodiments of the present disclosure do not limit the selection logic of the power supply selection circuit 18. In some examples, the power supply selection circuit 18 is configured to: when the power input of the first input circuit 16 fails and the power input of the second input circuit 17 is normal, output the power input of the second input circuit 17 from the output circuit 19. When the power input of the first input circuit 16 is normal, output the power input of the first input circuit 16 from the output circuit 19.

[0209] The following is an exemplary description of the implementation of the power supply selection circuit 18:

[0210] As shown in FIG. 14 and FIG. 15 , the power supply selection circuit 18 includes an NMOS transistor 181 , a first PMOS transistor 182 , a second PMOS transistor 183 , a sixth resistor 184 , and a seventh resistor 185 .

[0211] As shown in FIG14 , when the power input to the first input circuit 16 is normal, the gate of the NMOS transistor 181 is at a high potential, turning on the NMOS transistor 181. This grounds the gate of the first PMOS transistor 182, turning on the first PMOS transistor 182. Thus, a path is formed between the first input circuit 16 and the output circuit 19, and the output circuit 19 outputs the power input from the first input circuit 16.

[0212] Since the gate of the second PMOS transistor 183 is connected to the first input circuit 16, the gate of the second PMOS transistor 183 is at a high potential, and the second PMOS transistor 183 is turned off. This creates an open circuit between the second input circuit 17 and the output circuit 19. Regardless of whether the second input circuit 17 inputs electrical energy, the output circuit 19 will not output any electrical energy.

[0213] As shown in FIG15 , when the power input to the first input circuit 16 is abnormal, the gate of the second PMOS transistor 183 is grounded via the sixth resistor 184, and the gate of the second PMOS transistor 183 is at a low potential, turning on the second PMOS transistor 183. Thus, a path is formed between the second input circuit 17 and the output circuit 19, allowing the output circuit 19 to output the power input from the second input circuit 17.

[0214] Since the power input to the first input circuit 16 is abnormal, the gate of the NMOS transistor 181 is at a low potential, turning off the NMOS transistor 181. The gate of the first PMOS transistor 182 is not grounded, but is connected to the output circuit 19 (or second input circuit 17) via the seventh resistor 185. When the gate of the first PMOS transistor 182 is at a high potential, the first PMOS transistor 182 is turned off. This creates an open circuit between the first input circuit 16 and the output circuit 19.

[0215] Generally speaking, the voltage of the first power supply terminal 23 of the first electronic control unit 2 relative to the first ground terminal 22 is the same as the voltage of the second power supply terminal 33 of the second electronic control unit 3 relative to the second ground terminal 32. Therefore, if there is no voltage difference between the first ground terminal 22 and the second ground terminal 32, the power output from the second power supply terminal 33 can be directly output to the position sensor 11.

[0216] In the case where there is a voltage difference between the first ground terminal 22 and the second ground terminal 32, if the electric energy output by the second power supply terminal 33 is directly output to the position sensor 11, it may cause the power supply voltage to be too large or too small, affecting the signal acquisition of the first electronic control unit 2 and the second electronic control unit 3.

[0217] To address the above technical issues, in some examples, as shown in FIG16 , the second input circuit 17 includes an isolation circuit 170. The input end of the isolation circuit 170 is connected to the second power supply end 33, and the output end is connected to the power supply selection circuit 18. The voltage at the input end of the isolation circuit 170 relative to the second ground end 32 of the second electronic control unit 3 is equal to the voltage at the output end of the isolation circuit 170 relative to the first ground end 22 of the first electronic control unit 2.

[0218] Below, a possible implementation of the isolation circuit 170 is provided:

[0219] In some examples, as shown in FIG17 , the isolation circuit 170 includes a primary circuit 171, a transformer 172, and a secondary circuit 173. The primary circuit 171 and the secondary circuit 173 are coupled via the transformer 172. The primary circuit 171 is connected to the second power supply terminal 33 of the second electronic control unit 3 and is grounded via the second ground terminal 32. The secondary circuit 173 is connected to the power supply selection circuit 18 and is grounded via the first ground terminal 22.

[0220] The operational amplifier power supply circuit 14 may be connected to the primary side circuit 171. In some examples, the transformer 172 has a transformation ratio of 1:1.

[0221] The embodiments of the present disclosure do not limit the number of position sensors 11, first signal transmission circuits 12, and second signal transmission circuits 13. In some examples, as shown in FIG18 , there are two position sensors 11, two first signal transmission circuits 12, and two second signal transmission circuits 13. The two position sensors 11 are connected to the first electronic control unit 2 via two first signal transmission circuits 12, and are connected to the second electronic control unit 3 via two second signal transmission circuits 13.

[0222] For example, as shown in FIG18 , the first electronic control unit 2 has two first signal acquisition terminals 21 and two first ground terminals 22, both of which are grounded at the same location on the vehicle frame. The second electronic control unit 3 has two second signal acquisition terminals 31 and two second ground terminals 32, both of which are grounded at the same location on the vehicle frame.

[0223] The two first signal acquisition terminals 21 of the first electronic control unit 2 are respectively connected to the two first position signal circuits 121, and the two first ground terminals 22 are respectively connected to the two first ground signal circuits 122. The two second signal acquisition terminals 31 of the second electronic control unit 3 are respectively connected to the two position signal output circuits 1312, and the two second ground terminals 32 are respectively connected to the two second ground circuits 1322.

[0224] Through the above arrangement, the first electronic control unit 2 or the second electronic control unit 3 can control the vehicle's power output based on the position signals detected by the two position sensors 11, thereby improving the accuracy of the vehicle's power output control. Furthermore, if one of the two position sensors 11 fails, the other position sensor 11 can still transmit the position signal to the corresponding electronic control unit, thereby improving the reliability of the driving control system.

[0225] In addition, when there are two position sensors 11, correspondingly, as shown in FIG18 , there are also two power transmission circuits 15, and the two power transmission circuits 15 are respectively used to power the two position sensors 11. Exemplarily, the first electronic control unit 2 has two first power supply terminals 23, and the two first power supply terminals 23 are respectively connected to the two power transmission circuits 15.

[0226] In some examples, there are two operational amplifier power supply circuits 14 , which are respectively used to power the two first operational amplifiers 1331 , and the two operational amplifier power supply circuits 14 are respectively connected to the two second power supply terminals 33 of the second electronic control unit 3 .

[0227] It should be noted that if the position sensor 11 is powered by the first input circuit 16, the second input circuit 17, the power supply selection circuit 18, and the output circuit 19, then in some examples, there may be two output circuits 19, with one end of the two output circuits 19 connected to the same power supply selection circuit 18 and the other end connected to the two position sensors 11. In this case, the first electronic control unit 2 may have a first power supply terminal 23, and the second electronic control unit 3 may have a second power supply terminal 33.

[0228] In other examples, the first input circuit 16, the second input circuit 17, the power supply selection circuit 18, and the output circuit 19 may be provided in two groups, each of which is connected to the two position sensors 11. This improves the reliability of the power supply to the position sensors 11. In this case, the first electronic control unit 2 has two first power supply terminals 23, and the second electronic control unit 3 has two second power supply terminals 33. The two first power supply terminals 23 are respectively connected to the two first input circuits 16, and the two second power supply terminals 33 are respectively connected to the two second input circuits 17.

[0229] In some examples, as shown in FIG. 18 , the position sensor 11 , the first signal transmission circuit 12 , and the second signal transmission circuit 13 are integrated on the same circuit board 10 .

[0230] In terms of product form, the accelerator pedal position detection unit 1, the first electronic control unit 2, and the second electronic control unit 3 are three separate components. Therefore, the connection between the first signal transmission circuit 12 and the first electronic control unit 2, and the connection between the second signal transmission circuit 13 and the second electronic control unit 3, both need to be achieved through a wiring harness.

[0231] In some examples, the first signal transmission circuit 12 is connected to the first electronic control unit 2 through a first wiring harness, and the second signal transmission circuit 13 is connected to the second electronic control unit 3 through a second wiring harness.

[0232] In this way, when any one of the first wiring harness and the second wiring harness fails, the other wiring harness can still transmit the position signal to the corresponding electronic control unit, thereby improving the reliability of the driving control system.

[0233] In addition, when there are two position sensors 11 , two first signal transmission circuits 12 , and two second signal transmission circuits 13 , correspondingly, there are also two first wiring harnesses and two second wiring harnesses.

[0234] The following is an exemplary description of the transmission lines included in the first wiring harness and the second wiring harness:

[0235] As shown in Figures 4, 10, 13 and 16, the first wiring harness and the second wiring harness are one, the first wiring harness includes a power line Vcc1, a position signal line Sig1 and a ground signal line GND1, and the second wiring harness includes a power line Vcc2, a position signal line Sig2 and a ground signal line GND2.

[0236] As shown in Figures 4 and 10, the two ends of the power line Vcc1 are respectively connected to the first power supply terminal 23 and the power supply transmission circuit 15, and the two ends of the power line Vcc2 are respectively connected to the second power supply terminal 33 and the operational amplifier power supply circuit 14. The power line Vcc2 is used to power the first operational amplifier 1331.

[0237] As shown in Figures 13 and 16, the two ends of the power line Vcc1 are respectively connected to the first power supply terminal 23 and the first input circuit 16, and the two ends of the power line Vcc2 are respectively connected to the second power supply terminal 33 and the second input circuit 17, and the second input circuit 17 is also connected to the operational amplifier power supply circuit 14. The power line Vcc2 is used to power the position sensor 11 and the first operational amplifier 1331.

[0238] As shown in Figure 18, there are two first and second wiring harnesses. One first wiring harness includes power line Vcc1, position signal line Sig1, and ground signal line GND1, while the other first wiring harness includes power line Vcc3, position signal line Sig3, and ground signal line GND3. One second wiring harness includes power line Vcc2, position signal line Sig2, and ground signal line GND2, while the other second wiring harness includes power line Vcc4, position signal line Sig4, and ground signal line GND4.

[0239] The first electronic control unit 2 and the second electronic control unit 3 are exemplarily described below:

[0240] The first electronic control unit 2 and the second electronic control unit 3 can be active / standby to each other. For example, the first electronic control unit 2 is an active electronic control unit, and the second electronic control unit 3 is a standby electronic control unit or a redundant electronic control unit.

[0241] When the first electronic control unit 2 is normal, regardless of whether the second electronic control unit 3 is faulty, the first electronic control unit 2 can control the vehicle's power output based on the position signal detected by the position sensor 11. When the first electronic control unit 2 is faulty, the second electronic control unit 3 controls the vehicle's power output based on the position signal detected by the position sensor 11.

[0242] It should be noted that when the device is normal, both the first electronic control unit 2 and the second electronic control unit 3 can collect the position signal of the position sensor 11. However, when the first electronic control unit 2 is normal, the second electronic control unit 3 will not process based on the position signal of the position sensor 11.

[0243] In some examples, the first electronic control unit 2 and the second electronic control unit 3 are connected. For example, the first electronic control unit 2 and the second electronic control unit 3 can be connected via a controller area network (CAN) bus or an Ethernet (ETH) bus.

[0244] Below, taking the first electronic control unit 2 as the main electronic control unit and the second electronic control unit 3 as the backup electronic control unit as an example, the switching process of the backup electronic control unit taking over the power output control of the vehicle after the main electronic control unit fails is exemplarily described:

[0245] After the first electronic control unit 2 fails, the driver will feel that the vehicle speed does not change accordingly with stepping on the accelerator pedal, and the vehicle's instrument or central control screen will display a prompt message of the failure of the first electronic control unit 2. Therefore, for safety reasons, the driver will slow down the vehicle and turn off the engine.

[0246] At the same time, the second electronic control unit 3 determines that the first electronic control unit 2 has failed. For example, after the first electronic control unit 2 fails, it can send a fault indication message to the second electronic control unit 3. For another example, if the first electronic control unit 2 cannot send a fault indication message, the second electronic control unit 3 confirms that it is completely unable to receive the message sent by the first electronic control unit 2 and can also determine that the first electronic control unit 2 has failed.

[0247] When the vehicle is restarted after being turned off, the second electronic control unit 3 can take over the processing of controlling the vehicle's power output based on the position signal because the second electronic control unit 3 has determined that the first electronic control unit 2 has failed. When the driver steps on the accelerator pedal again, the vehicle's speed can change accordingly.

[0248] The embodiments of the present disclosure do not limit the specific components in the vehicle that the first electronic control unit 2 and the second electronic control unit 3 refer to. In some examples, such as shown in FIG19 , the vehicle is an electric vehicle, and one of the first electronic control unit 2 and the second electronic control unit 3 is a vehicle controller, and the other is an autonomous driving controller. For example, the first electronic control unit 2 is a vehicle controller, and the second electronic control unit 3 is an autonomous driving controller.

[0249] In other examples, as shown in FIG20 , the vehicle is a gasoline-powered vehicle, and one of the first electronic control unit 2 and the second electronic control unit 3 is an engine controller, while the other is an autonomous driving controller. For example, the first electronic control unit 2 is an engine controller, and the second electronic control unit 3 is an autonomous driving controller.

[0250] The vehicle controller or engine controller refers to the controller used to control the vehicle in manual driving mode based on the accelerator pedal position signal. The autonomous driving controller refers to the controller used to automatically control the vehicle in autonomous driving mode. The autonomous driving controller may also be called an assisted driving controller or an autonomous driving full-stack solution (ADS) controller.

[0251] By selecting the vehicle's own vehicle controller (or engine controller) and automatic driving controller as the above-mentioned first electronic control unit 2 and second electronic control unit 3, there is no need to add new electronic control units to the vehicle, which reduces the implementation cost and is conducive to the implementation of the technical solution.

[0252] The following is an example of the control logic of the vehicle controller (or engine controller) and the autonomous driving controller:

[0253] In manual driving mode, when the vehicle controller or engine controller is in normal state, the vehicle controller or engine controller receives the accelerator pedal position signal sent by the accelerator pedal position detection unit 1 and controls the vehicle power output based on the accelerator pedal position signal.

[0254] When the vehicle controller or the engine controller fails, the automatic driving controller receives the accelerator pedal position signal sent by the accelerator pedal position detection unit 1 and controls the power output of the vehicle based on the accelerator pedal position signal.

[0255] In addition, when the vehicle is in autonomous driving mode, the autonomous driving controller automatically controls the vehicle.

[0256] The present disclosure also provides an accelerator pedal position detection unit 1, as shown in Figures 3 and 4. The accelerator pedal position detection unit 1 includes a position sensor 11, a first signal transmission circuit 12, and a second signal transmission circuit 13. The position sensor 11 is connected to the first signal transmission circuit 12 and the second signal transmission circuit 13. The first signal transmission circuit 12 is used to connect to the first electronic control unit 2, and the second signal transmission circuit 13 is used to connect to the second electronic control unit 3.

[0257] In some examples, as shown in Figures 3 and 4, the first signal transmission circuit 12 includes a first position signal circuit 121 and a first ground signal circuit 122. One end of the first position signal circuit 121 is connected to the position sensor 11, and the other end is used to connect to the first signal acquisition terminal 21 of the first electronic control unit 2. One end of the first ground signal circuit 122 is connected to the position sensor 11, and the other end is connected to the first ground terminal 22 of the first electronic control unit 2.

[0258] In some examples, as shown in Figure 4, the second signal transmission circuit 13 includes a second position signal circuit 131, a second ground signal circuit 132 and a differential operation circuit 133, wherein the second position signal circuit includes a position signal input circuit 1311 and a position signal output circuit 1312, and the second ground signal circuit 132 includes a first ground circuit 1321 and a second ground circuit 1322. One end of the position signal input circuit 1311 is connected to the position sensor 11, and the other end is connected to the differential operation circuit 133; one end of the first grounding circuit 1321 is connected to the position sensor 11, and the other end is connected to the differential operation circuit 133; one end of the position signal output circuit 1312 is connected to the differential operation circuit 133, and the other end is connected to the second signal acquisition terminal 31 of the second electronic control unit 3; one end of the second grounding circuit 1322 is connected to the differential operation circuit 133, and the other end is connected to the second grounding terminal 32 of the second electronic control unit 3; the differential operation circuit 133 is configured to: adjust the position signal input by the position signal input circuit 1311 relative to the voltage V1 of the first grounding circuit 1321, so that the position signal output by the position signal output circuit 1312 is linearly related to the voltage V2 of the second grounding circuit 1322 and V1.

[0259] In some examples, V2 = k× V1 + V0 , where V0 is a target non-negative voltage and k is a constant greater than 0.

[0260] In some examples, k×V1max+V0≤V1max, where V1max is the maximum value of V1.

[0261] In some examples, as shown in Figures 5-9, the differential operation circuit 133 includes a first operational amplifier 1331, a first resistor 1332, a second resistor 1333, a third resistor 1334, and a fourth resistor 1335. The first operational amplifier 1331 has a first positive input terminal 1331a, a first negative input terminal 1331b, and a first operational output terminal 1331c. The position signal input circuit 1311 is connected to the first positive input terminal 1331a via the first resistor 1332, and the first ground circuit 1321 is connected to the first negative input terminal 1331b via the fourth resistor 1335. The position signal output circuit 1312 is connected to the first operational output terminal 1331c, which is connected to the first negative input terminal 1331b via the third resistor 1334. The second ground circuit 1322 is connected to the first positive input terminal 1331a via the second resistor 1333.

[0262] In some examples, as shown in Figures 7-9, the differential operation circuit 133 also includes a boost unit 1336 and a fifth resistor 1337. The boost unit 1336 is connected to the first positive input terminal 1331a through the fifth resistor 1337. The boost unit 1336 is used to make the voltage input to the first positive input terminal 1331a greater than or equal to 0.

[0263] In some examples, as shown in FIG. 9 , the boost unit 1316 is the power source output by the second electronic control unit 3 .

[0264] In some examples, as shown in FIG. 10 , the position signal input circuit 1311 includes a voltage follower 13111 , wherein an input end of the voltage follower 13111 is connected to the position sensor 11 , and an output end of the voltage follower 13111 is connected to the differential operation circuit 133 .

[0265] In some examples, as shown in FIG10 , the accelerator pedal position detection unit 1 further includes a power supply transmission circuit 15 , one end of which is connected to the first power supply terminal 23 of the first electronic control unit 2 , and the other end is connected to the position sensor 11 .

[0266] In some examples, as shown in FIG13 , the accelerator pedal position detection unit 1 further includes a first input circuit 16, a second input circuit 17, a power supply selection circuit 18, and an output circuit 19. One end of the first input circuit 16 is used to connect to the first power supply terminal 23 of the first electronic control unit 2, and the other end is connected to the power supply selection circuit 18. One end of the second input circuit 17 is used to connect to the second power supply terminal 33 of the second electronic control unit 3, and the other end is connected to the power supply selection circuit 18. One end of the output circuit 19 is connected to the power supply selection circuit 18, and the other end is connected to the position sensor 11. The power supply selection circuit 18 is used to output the electrical energy input by the first input circuit 16 or the electrical energy input by the second input circuit 17 from the output circuit 19.

[0267] In some examples, the power supply selection circuit 18 is configured to output the power input by the first input circuit 16 from the output circuit 19 when the power input of the first input circuit 16 is normal.

[0268] In some examples, the power supply selection circuit 18 is configured to output the power input by the second input circuit 17 from the output circuit 19 when the power input of the first input circuit 16 fails and the power input of the second input circuit 17 is normal.

[0269] In some examples, the voltage of the input terminal of the second input circuit 17 relative to the second ground terminal 32 of the second electronic control unit 3 is equal to the voltage of the output terminal of the second input circuit 17 relative to the first ground terminal 22 of the first electronic control unit 2 .

[0270] In some examples, as shown in FIG16 , the second input circuit 17 includes an isolation circuit 170, wherein an input terminal of the isolation circuit 170 is connected to the second power supply terminal 33, and an output terminal of the isolation circuit 170 is connected to the power supply selection circuit 18. The voltage at the input terminal of the isolation circuit 170 relative to the second ground terminal 32 of the second electronic control unit 3 is equal to the voltage at the output terminal of the isolation circuit 170 relative to the first ground terminal 22 of the first electronic control unit 2.

[0271] In some examples, as shown in FIG17 , the isolation circuit 170 includes a primary circuit 171, a transformer 172, and a secondary circuit 173. The primary circuit 171 and the secondary circuit 173 are coupled via the transformer 172. The primary circuit 171 is connected to the second power supply terminal 33 of the second electronic control unit 3 and is grounded via the second ground terminal 32. The secondary circuit 173 is connected to the power supply selection circuit 18 and is grounded via the first ground terminal 22.

[0272] In some examples, as shown in FIG18 , there are two position sensors 11, two first signal transmission circuits 12, and two second signal transmission circuits 13. The two position sensors 11 are respectively connected to the two first signal transmission circuits 12, and respectively connected to the two second signal transmission circuits 13. The two first signal transmission circuits 12 are each used to connect to the first electronic control unit 2, and the two second signal transmission circuits 13 are each used to connect to the second electronic control unit 3.

[0273] In some examples, as shown in FIG. 18 , the position sensor 11 , the first signal transmission circuit 12 , and the second signal transmission circuit 13 are integrated on the same circuit board 10 .

[0274] In some examples, the first signal transmission circuit 12 is configured to be connected to the first electronic control unit 2 through a first wiring harness, and the second signal transmission circuit 13 is configured to be connected to the second electronic control unit 3 through a second wiring harness.

[0275] In some examples, as shown in FIG19 , one of the first electronic control unit 2 and the second electronic control unit 3 is a vehicle controller, and the other is an autonomous driving controller. Alternatively, as shown in FIG20 , one of the first electronic control unit 2 and the second electronic control unit 3 is an engine controller, and the other is an autonomous driving controller. The autonomous driving controller is configured to control the vehicle's power output based on the accelerator pedal position signal detected by the position sensor 11 when the vehicle controller or the engine controller fails.

[0276] It should be noted that the accelerator pedal position detection unit 1 provided in the above embodiment has the same concept as the above embodiment of the driving control system. The specific implementation process is detailed in the embodiment of the driving control system and will not be repeated here.

[0277] The embodiment of the present disclosure further provides an accelerator pedal, which includes an accelerator pedal structure and the above-mentioned accelerator pedal position detection unit 1.

[0278] The accelerator pedal structure is used for the driver to step on, and the accelerator pedal position detection unit 1 is used to detect the position signal of the accelerator pedal structure and transmit the position signal to the first electronic control unit 2 and the second electronic control unit 3.

[0279] An embodiment of the present disclosure also provides a vehicle, which includes the above-mentioned driving control system.

[0280] The disclosed embodiment does not limit the specific type of vehicle; the vehicle may be a fuel vehicle or an electric vehicle.

[0281] In some examples, as shown in FIG19 , the vehicle is an electric vehicle, the first electronic control unit 2 may be an engine controller in the vehicle, and the second electronic control unit 3 may be an automatic driving controller in the vehicle.

[0282] In some examples, as shown in FIG20 , the vehicle is a fuel vehicle, the first electronic control unit 2 may be a vehicle controller in the vehicle, and the second electronic control unit 3 may be an automatic driving controller in the vehicle.

[0283] The present disclosure also provides a driving control method, which is applied to the above-mentioned driving control system. As shown in FIG21 , the method includes:

[0284] In step 2101 , the second electronic control unit 3 detects that the first electronic control unit 2 is faulty.

[0285] When the first electronic control unit 2 is normal, the first electronic control unit 2 may control the power output of the vehicle based on the position signal received through the first signal transmission circuit 12 .

[0286] In step 2102 , the second electronic control unit 3 controls the power output of the vehicle based on the position signal received through the second signal transmission circuit 13 .

[0287] The technical solution provided by the embodiment of the present disclosure, through the above-mentioned setting, enables the second electronic control unit 3 to control the power output of the vehicle based on the position signal of the accelerator pedal when the first electronic control unit 2 fails, thereby improving the reliability of the vehicle.

[0288] In some examples, after the second electronic control unit 3 detects a failure in the first electronic control unit 2 , when the second electronic control unit 3 detects that the vehicle is restarted after being shut down, the second electronic control unit 3 controls the power output of the vehicle based on the position signal received through the second signal transmission circuit 13 .

[0289] Among them, vehicle shutdown includes turning off the fuel vehicle and stopping the motor of the electric vehicle, and restarting includes re-igniting the fuel vehicle and restarting the motor of the electric vehicle.

[0290] The technical solution provided by the embodiment of the present disclosure can improve the driving safety of the vehicle by allowing the second electronic control unit 3 to take over the power output control of the vehicle when the vehicle is restarted after being shut down when the first electronic control unit 2 fails, and avoid the situation where the second electronic control unit 3 suddenly takes over the power output control of the vehicle when the driver steps on the accelerator pedal due to failure of the accelerator pedal, resulting in an instantaneous acceleration of the vehicle speed.

[0291] It should be noted that once the first electronic control unit 2 returns to normal operation, it can take over control of the vehicle's power output. Accordingly, when the first electronic control unit 2 detects that the vehicle has been restarted after being shut down, it controls the vehicle's power output based on the position signal received via the first signal transmission circuit 12.

[0292] The embodiment of the present disclosure further provides a driving control method, which is applied to the second electronic control unit 3 of the driving control system. As shown in FIG22 , the driving control method includes:

[0293] In step 2201 , a failure of the first electronic control unit 2 is detected.

[0294] When the first electronic control unit 2 is normal, the first electronic control unit 2 may control the power output of the vehicle based on the position signal received through the first signal transmission circuit 12 .

[0295] In step 2202 , the power output of the vehicle is controlled based on the position signal received by the second signal transmission circuit 13 .

[0296] The technical solution provided by the embodiment of the present disclosure, through the above-mentioned setting, enables the second electronic control unit 3 to control the power output of the vehicle based on the position signal of the accelerator pedal when the first electronic control unit 2 fails, thereby improving the reliability of the vehicle.

[0297] In some examples, after a failure of the first electronic control unit 2 is detected, when it is detected that the vehicle is restarted after being shut down, the power output of the vehicle is controlled based on the position signal received through the second signal transmission circuit 13 .

[0298] The technical solution provided by the present disclosure can improve the driving safety of the vehicle by allowing the second electronic control unit 3 to take over the power output control of the vehicle when the vehicle is restarted after being shut down after a failure of the first electronic control unit 2, and avoid the situation where the second electronic control unit 3 suddenly takes over the power output control of the vehicle when the driver steps on the accelerator pedal due to failure of the accelerator pedal, resulting in instantaneous acceleration of the vehicle.

[0299] The present disclosure also provides a driving control device, which is configured in the second electronic control unit 3 of the driving control system. As shown in FIG23 , the driving control device includes:

[0300] The detection module 2301 is configured to detect a fault in the first electronic control unit 2 .

[0301] The control module 2302 is configured to control the power output of the vehicle based on the position signal received through the second signal transmission circuit 13 .

[0302] In some examples, before the control module 2302 controls the power output of the vehicle based on the position signal received through the second signal transmission circuit 13, the detection module 2301 is further used to detect that the vehicle is restarted after being shut down.

[0303] An embodiment of the present disclosure also provides an electronic control unit, which includes a controller coupled to a memory. The memory stores at least one instruction, and the at least one instruction is loaded and executed by the controller to implement the above-mentioned driving control method.

[0304] The electronic control unit may be the first electronic control unit 2 or the second electronic control unit 3 .

[0305] 24 , which shows a schematic structural diagram of an electronic control unit 2400 provided in an embodiment of the present disclosure. The electronic control unit 2400 shown in FIG24 can be the first electronic control unit 2 or the second electronic control unit 3 described above.

[0306] As shown in FIG. 24 , the electronic control unit 2400 includes at least one processor 2401 (or controller), a memory 2402 , and at least one communication interface 2403 .

[0307] The processor 2401 is, for example, a general-purpose central processing unit (CPU), a digital signal processor (DSP), a network processor (NP), a graphics processing unit (GPU), a neural-network processing unit (NPU), a data processing unit (DPU), a microcontroller, or one or more integrated circuits for implementing the embodiments of the present disclosure. For example, the processor 2401 includes an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The PLD is, for example, a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof. It can implement or execute the various logic blocks, modules, and circuits described in conjunction with the disclosure of the embodiments of the present invention. The processor 2401 can also be a combination that implements computing functions, such as a combination of one or more microcontrollers, a combination of a DSP and a microcontroller, and the like.

[0308] In some examples, the electronic control unit 2400 also includes a bus. The bus is used to transmit information between the components of the electronic control unit 2400. The bus can be a Peripheral Component Interconnect (PCI) bus, PCIe, or an Extended Industry Standard Architecture (EISA) bus, among others. Buses can be classified as address buses, data buses, control buses, and so on. For ease of illustration, FIG24 shows only one thick line, but this does not mean that there is only one bus or only one type of bus.

[0309] The memory 2402 is, for example, a read-only memory (ROM) or other type of static storage device that can store static information and instructions, or a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 2402 is, for example, independent and connected to the processor 2401 via a bus. The memory 2402 can also be integrated with the processor 2401.

[0310] The communication interface 2403 uses any transceiver-like device to communicate with other devices or communication networks, and the communication network can be Ethernet, a radio access network (RAN), or a wireless local area network (WLAN). The communication interface 2403 can include a wired communication interface and a wireless communication interface. Specifically, the communication interface 2403 can be an Ethernet interface, a fast Ethernet (FE) interface, a gigabit Ethernet (GE) interface, an asynchronous transfer mode (ATM) interface, a WLAN interface, a cellular network communication interface, or a combination thereof. The Ethernet interface can be an optical interface, an electrical interface, or a combination thereof. In the embodiment of the present disclosure, the communication interface 2403 can be used for the electronic control unit 2400 to communicate with other devices.

[0311] In some examples, processor 2401 may include one or more CPUs, such as CPU0 and CPU1 shown in FIG24 . Each of these processors may be a single-CPU processor or a multi-CPU processor. A processor herein may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0312] In some examples, electronic control unit 2400 may include multiple processors, such as processor 2401 and processor 2404 shown in FIG24 . Each of these processors may be a single-core controller or a multi-core controller. A processor herein may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0313] In some examples, the electronic control unit 2400 may further include an output device and an input device. The output device communicates with the processor 2401 and can display information in a variety of ways. For example, the output device can be a liquid crystal display (LCD), a light emitting diode (LED) display device, a cathode ray tube (CRT) display device, or a projector. The input device communicates with the processor 2401 and can receive user input in a variety of ways. For example, the input device can be a mouse, a keyboard, a touch screen device, or a sensor device.

[0314] In some examples, the memory 2402 is used to store program code 2410 for executing the embodiments of the present disclosure, and the processor 2401 can execute the program code 2410 stored in the memory 2402. The program code 2410 can include one or more software modules. Alternatively, the processor 2401 itself can also store program code or instructions for executing the embodiments of the present disclosure.

[0315] Among them, each step executed by the driving control method shown in Figure 22 is completed by the integrated logic circuit of processor 2401 or software instructions. The steps of the method disclosed in conjunction with the embodiments of the present disclosure can be directly embodied as being executed by a hardware controller, or can be executed by a combination of hardware and software modules in the controller. The software module can be located in a storage medium mature in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the controller reads the information in the memory and combines its hardware to complete the steps of the above method. To avoid repetition, it will not be described in detail here.

[0316] The present disclosure also provides another electronic control unit, which may be the first electronic control unit 2 or the second electronic control unit 3 described above. The electronic control unit includes a transceiver, a memory, and a controller. The transceiver, the memory, and the controller communicate with each other via an internal connection path. The memory is used to store instructions, and the controller is used to execute the instructions stored in the memory to control the transceiver to receive signals and control the transceiver to send signals. When the controller executes the instructions stored in the memory, it performs the aforementioned driving control method.

[0317] It should be understood that the controller described above may be a central controller, or other general-purpose controller, digital signal controller, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc. The general-purpose controller may be a microcontroller or any conventional controller, etc. It is worth noting that the controller may be a controller that supports the Advanced Reduced Instruction Set Machine (ARM) architecture.

[0318] Furthermore, in some examples, the memory may include read-only memory and random access memory, and provide instructions and data to the controller. The memory may also include non-volatile random access memory. For example, the memory may also store device type information.

[0319] The memory may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. Non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory may be random access memory (RAM), which is used as an external cache memory. By way of example and not limitation, many forms of RAM are available. For example, static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM) and direct rambus RAM (DR RAM).

[0320] An embodiment of the present disclosure further provides a computer-readable storage medium, in which at least one instruction is stored. The instruction is loaded and executed by a controller to enable an electronic control unit to implement the above-mentioned driving control method.

[0321] The embodiments of the present disclosure further provide a computer program product. When the computer program product is executed by an electronic control unit, the electronic control unit can execute the corresponding steps and / or processes in the above method embodiments.

[0322] An embodiment of the present disclosure also provides a chip, which includes a controller, and the controller is used to call and run instructions stored in the memory from the memory, so that an electronic control unit equipped with the chip executes the above-mentioned driving control method.

[0323] An embodiment of the present disclosure also provides another chip, including: an input interface, an output interface, a controller and a memory. The input interface, the output interface, the controller and the memory are connected through an internal connection path. The controller is used to execute the code in the memory. When the code is executed, the controller is used to execute the above-mentioned driving control method.

[0324] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When software is used for implementation, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer (electronic control unit), the process or function described in the embodiment of the present disclosure is generated in whole or in part. The computer instructions can 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 instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive Solid State Disk), etc.

[0325] To clearly illustrate the interchangeability of hardware and software, the above description has generally described the steps and components of each embodiment according to their functions. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this disclosure.

[0326] The computer program code for implementing the method of the present disclosure can be written in one or more programming languages. These computer program codes can be provided to a controller of a general-purpose computer, a special-purpose computer, or other programmable distance measuring device, so that when the program code is executed by the computer or other programmable distance measuring device, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code can be executed entirely on a computer, partially on a computer, as a separate software package, partially on a computer and partially on a remote computer, or entirely on a remote computer or server.

[0327] In the context of the embodiments of the present disclosure, computer program code or related data can be carried by any suitable carrier to enable a device, apparatus, or controller to perform the various processes and operations described above. Examples of carriers include signals, computer-readable media, and the like. Examples of signals include electrical, optical, radio, acoustic, or other forms of propagated signals, such as carrier waves, infrared signals, and the like.

[0328] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described systems, devices and modules can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0329] In the several embodiments provided in the present disclosure, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the modules is merely a logical function division. In actual implementation, there may be other division methods, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, or can be an electrical, mechanical or other form of connection.

[0330] The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the objectives of the embodiments of the present disclosure.

[0331] In addition, the functional modules in the various embodiments of the present disclosure may be integrated into a single processing module, or each module may exist physically separately, or two or more modules may be integrated into a single module. The aforementioned integrated modules may be implemented in the form of hardware or software functional modules.

[0332] In this disclosure, the terms "first," "second," and the like are used to distinguish between identical or similar items having substantially the same function and effect. It should be understood that "first," "second," and "nth" do not have a logical or temporal dependency, nor do they limit the quantity or order of execution. It should also be understood that although the following description uses the terms "first," "second," and the like to describe various elements, these elements should not be limited by these terms. These terms are merely used to distinguish one element from another.

[0333] It should also be understood that in the various embodiments of the present disclosure, the size of the serial number of each process does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure.

[0334] The term "at least one" in the present disclosure means one or more, and the term "plurality" in the present disclosure means two or more.

[0335] It should be understood that the terminology used in the description of the various examples herein is for the purpose of describing particular examples only and is not intended to be limiting. As used in the description of the various examples and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0336] It will also be understood that the term “comprise” (also known as “includes,” “including,” “comprises,” and / or “comprising”) when used in this specification specifies the presence of stated features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0337] It should also be understood that, depending on the context, the phrase “if it is determined that…” or “if [stated condition or event] is detected” may be interpreted to mean “upon determining…” or “in response to determining…” or “upon detecting [stated condition or event]” or “in response to detecting [stated condition or event]”.

[0338] It should be understood that determining B based on A does not mean determining B based solely on A. B can also be determined based on A and / or other information.

[0339] It should also be understood that references throughout this specification to "one embodiment," "an embodiment," "some examples," or "a possible implementation" mean that specific features, structures, or characteristics associated with an embodiment or implementation are included in at least one embodiment of the present disclosure. Therefore, the appearance of "in one embodiment," "in an embodiment," "in some examples," or "a possible implementation" throughout this specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0340] The above descriptions are merely optional embodiments of the present disclosure and are not intended to limit the present disclosure. Any modifications, equivalent replacements, improvements, etc. made within the principles of the present disclosure shall be included in the scope of protection of the present disclosure.

Claims

1. A driving control system, characterized in that: The driving control system comprises an accelerator pedal position detection unit (1), a first electronic control unit (2) and a second electronic control unit (3); The accelerator pedal position detection unit (1) includes a position sensor (11), a first signal transmission circuit (12) and a second signal transmission circuit (13); The position sensor (11) is connected to the first electronic control unit (2) via the first signal transmission circuit (12); The position sensor (11) is connected to the second electronic control unit (3) via the second signal transmission circuit (13).

2. The driving control system according to claim 1, characterized in that: The first signal transmission circuit (12) includes a first position signal circuit (121) and a first ground signal circuit (122); One end of the first position signal circuit (121) is connected to the position sensor (11), and the other end is connected to the first signal acquisition terminal (21) of the first electronic control unit (2); One end of the first ground signal circuit (122) is connected to the position sensor (11), and the other end is connected to the first ground terminal (22) of the first electronic control unit (2).

3. The driving control system according to claim 1 or 2, characterized in that: The second signal transmission circuit (13) includes a second position signal circuit (131), a second ground signal circuit (132) and a differential operation circuit (133), wherein the second position signal circuit includes a position signal input circuit (1311) and a position signal output circuit (1312), and the second ground signal circuit (132) includes a first ground circuit (1321) and a second ground circuit (1322); One end of the position signal input circuit (1311) is connected to the position sensor (11), and the other end is connected to the differential operation circuit (133); One end of the first grounding circuit (1321) is connected to the position sensor (11), and the other end is connected to the differential operation circuit (133); One end of the position signal output circuit (1312) is connected to the differential operation circuit (133), and the other end is connected to the second signal acquisition terminal (31) of the second electronic control unit (3); One end of the second grounding circuit (1322) is connected to the differential operation circuit (133), and the other end is connected to the second grounding terminal (32) of the second electronic control unit (3); The differential operation circuit (133) is configured as follows: The position signal input by the position signal input circuit (1311) is adjusted relative to the voltage V1 of the first ground circuit (1321) so that the position signal output by the position signal output circuit (1312) has a linear relationship with the voltage V2 of the second ground circuit (1322) and V1.

4. The driving control system according to claim 3, characterized in that: V2=k×V1+V0, where V0 is the target non-negative voltage and k is a constant greater than 0.

5. The driving control system according to claim 4, characterized in that: k×V1max+V0≤V1max, where V1max is the maximum value of V1.

6. The driving control system according to any one of claims 3 to 5, characterized in that: The differential operation circuit (133) includes a first operational amplifier (1331), a first resistor (1332), a second resistor (1333), a third resistor (1334) and a fourth resistor (1335); The first operational amplifier (1331) has a first positive input terminal (1331a), a first negative input terminal (1331b) and a first operational output terminal (1331c); The position signal input circuit (1311) is connected to the first positive input terminal (1331a) via the first resistor (1332); The first grounding circuit (1321) is connected to the first negative input terminal (1331b) via the fourth resistor (1335); The position signal output circuit (1312) is connected to the first operation output terminal (1331c), and the first operation output terminal (1331c) is connected to the first negative input terminal (1331b) via the third resistor (1334); The second grounding circuit (1322) is connected to the first positive input terminal (1331a) via the second resistor (1333).

7. The driving control system according to claim 6, characterized in that: The differential operation circuit (133) further includes a boost unit (1336) and a fifth resistor (1337); The boost unit (1336) is connected to the first positive input terminal (1331a) via the fifth resistor (1337), and the boost unit (1336) is used to make the voltage input to the first positive input terminal (1331a) greater than or equal to 0.

8. The driving control system according to claim 7, characterized in that: The boost unit (1336) is the power source output by the second electronic control unit (3).

9. The driving control system according to any one of claims 3 to 8, characterized in that: The position signal input circuit (1311) includes a voltage follower (13111); The input end of the voltage follower (13111) is connected to the position sensor (11), and the output end of the voltage follower (13111) is connected to the differential operation circuit (133).

10. The driving control system according to any one of claims 1 to 9, characterized in that: The accelerator pedal position detection unit (1) further includes a power supply transmission circuit (15); One end of the power supply transmission circuit (15) is connected to the first power supply end (23) of the first electronic control unit (2), and the other end is connected to the position sensor (11).

11. The driving control system according to any one of claims 1 to 9, characterized in that: The accelerator pedal position detection unit (1) further includes a first input circuit (16), a second input circuit (17), a power supply selection circuit (18) and an output circuit (19); One end of the first input circuit (16) is connected to the first power supply end (23) of the first electronic control unit (2), and the other end is connected to the power supply selection circuit (18); One end of the second input circuit (17) is connected to the second power supply end (33) of the second electronic control unit (3), and the other end is connected to the power supply selection circuit (18); One end of the output circuit (19) is connected to the power supply selection circuit (18), and the other end is connected to the position sensor (11); The power supply selection circuit (18) is configured to output the electric energy inputted by the first input circuit (16) or the electric energy inputted by the second input circuit (17) from the output circuit (19).

12. The driving control system according to claim 11, characterized in that: The power supply selection circuit (18) is configured to: When the electric energy input of the first input circuit (16) fails and the electric energy input of the second input circuit (17) is normal, the electric energy input by the second input circuit (17) is output from the output circuit (19).

13. The driving control system according to claim 11 or 12, characterized in that: The second input circuit (17) includes an isolation circuit (170), the input end of the isolation circuit (170) is connected to the second power supply end (33), and the output end is connected to the power supply selection circuit (18); The voltage of the input end of the isolation circuit (170) relative to the second ground end (32) of the second electronic control unit (3) is equal to the voltage of the output end of the isolation circuit (170) relative to the first ground end (22) of the first electronic control unit (2).

14. The driving control system according to claim 13, characterized in that: The isolation circuit (170) includes a primary side circuit (171), a transformer (172) and a secondary side circuit (173); The primary side circuit (171) and the secondary side circuit (173) are coupled via the transformer (172); The primary side circuit (171) is connected to the second power supply terminal (33) of the second electronic control unit (3), and is grounded via the second ground terminal (32); The secondary side circuit (173) is connected to the power supply selection circuit (18) and is grounded via the first ground terminal (22).

15. The driving control system according to any one of claims 1 to 14, characterized in that: There are two of each of the position sensor (11), the first signal transmission circuit (12), and the second signal transmission circuit (13); The two position sensors (11) are respectively connected to the first electronic control unit (2) via the two first signal transmission circuits (12); The two position sensors (11) are connected to the second electronic control unit (3) via two second signal transmission circuits (13) respectively.

16. The driving control system according to any one of claims 1 to 15, characterized in that: The position sensor (11), the first signal transmission circuit (12), and the second signal transmission circuit (13) are integrated on the same circuit board (10).

17. The driving control system according to any one of claims 1 to 16, characterized in that: The first signal transmission circuit (12) is connected to the first electronic control unit (2) via a first wiring harness; The second signal transmission circuit (13) is connected to the second electronic control unit (3) via a second wiring harness.

18. The driving control system according to any one of claims 1 to 17, characterized in that: One of the first electronic control unit (2) and the second electronic control unit (3) is a vehicle controller, and the other is an automatic driving controller; Alternatively, one of the first electronic control unit (2) and the second electronic control unit (3) is an engine controller, and the other is an automatic driving controller; The automatic driving controller is configured to control the power output of the vehicle based on the position signal of the accelerator pedal detected by the position sensor (11) when the vehicle controller or the engine controller fails.

19. An accelerator pedal position detection unit, characterized in that: The accelerator pedal position detection unit (1) includes a position sensor (11), a first signal transmission circuit (12) and a second signal transmission circuit (13); The position sensor (11) is connected to the first signal transmission circuit (12) and the second signal transmission circuit (13); the first signal transmission circuit (12) is used to connect to the first electronic control unit (2); and the second signal transmission circuit (13) is used to connect to the second electronic control unit (3).

20. An accelerator pedal, characterized in that: The accelerator pedal comprises an accelerator pedal structure and an accelerator pedal position detection unit (1) as claimed in claim 19.

21. A vehicle, characterized in that: The vehicle comprises a driving control system according to any one of claims 1-18.

22. A driving control method, characterized in that: The driving control method is applied in the driving control system according to any one of claims 1 to 18, and the driving control method includes: The second electronic control unit (3) detects a fault in the first electronic control unit (2); The second electronic control unit (3) controls the power output of the vehicle based on the position signal received through the second signal transmission circuit (13).

23. The driving control method according to claim 22, characterized in that: Before the second electronic control unit (3) controls the power output of the vehicle based on the position signal received through the second signal transmission circuit (13), the driving control method further includes: The second electronic control unit (3) detects that the vehicle is turned off and then restarts.

24. The driving control method according to claim 22 or 23, characterized in that: The driving control method further includes: When the first electronic control unit (2) is normal, the first electronic control unit (2) controls the power output of the vehicle based on the position signal received through the first signal transmission circuit (12).

25. A driving control method, characterized in that: The driving control method is applied in the second electronic control unit (3) of the driving control system according to any one of claims 1 to 18, and the driving control method comprises: detecting a fault in the first electronic control unit (2); The power output of the vehicle is controlled based on the position signal received through the second signal transmission circuit (13).

26. A driving control device, characterized in that: The driving control device is configured in a second electronic control unit (3) of the driving control system according to any one of claims 1 to 18, and the driving control device comprises: A detection module, configured to detect a fault in the first electronic control unit (2); A control module is used to control the power output of the vehicle based on the position signal received through the second signal transmission circuit (13).

27. A computer-readable storage medium, characterized in that The computer-readable storage medium stores at least one instruction, which is loaded and executed by the controller to implement the driving control method as claimed in claim 25.

28. A computer program product, characterized in that The computer program product includes at least one instruction, which is executed by an electronic control unit so that the electronic control unit implements the driving control method according to claim 25.

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