Control device, vehicle, and power supply method for control device

Abstract

The invention provides a control device, a vehicle and a power supply method of the control device. The control device comprises a control unit, a processing unit, a first circuit and a second circuit. The first circuit is connected with a first power supply, so that the first power supply supplies power to the control unit and the processing unit through the first circuit; the second circuit is connected with a second power supply; the control unit is configured to determine whether the power supply of the first power supply is abnormal; and in response to power supply abnormity of the first power supply, controlling the second circuit to be switched on, so that the second power supply at least supplies power to the processing unit through the second circuit.

Description

Technical Field

[0001] The present disclosure relates to the field of autonomous driving technology, and particularly to a control device, a vehicle, and a power supply method for the control device. Background Art

[0002] Under the need for the development of electronization and intelligence, control devices are provided in many systems to perform specific functions. Generally, it is still necessary to ensure the normal operation of some functions of the control device in the power supply abnormal scenario. Therefore, how to solve the power supply demand of the control device in the power supply abnormal scenario has become an urgent problem to be solved. Summary of the Invention

[0003] In view of this, the present disclosure provides a control device, a vehicle, and a power supply method for the control device, so as to meet the power supply and data storage and recording requirements of the control device when the power supply is abnormal (such as disconnected).

[0004] According to a first aspect of the present disclosure, there is provided a control device, including:

[0005] A control unit;

[0006] A processing unit;

[0007] A first circuit for connecting to a first power supply, so that the first power supply supplies power to the control unit and the processing unit through the first circuit; and

[0008] A second circuit for connecting to a second power supply,

[0009] wherein the control unit is configured to:

[0010] Determine whether the power supply of the first power supply is abnormal;

[0011] In response to the abnormal power supply of the first power supply, control the second circuit to be turned on, so that the second power supply supplies power to at least the processing unit through the second circuit.

[0012] According to a second aspect of the present disclosure, there is provided a vehicle, including the control device described in the first aspect above, and a telematics box TBOX, wherein the TBOX includes the second power supply.

[0013] According to a third aspect of the present disclosure, there is provided a power supply method for a control device, wherein the control device includes:

[0014] A control unit;

[0015] A processing unit;

[0016] A first circuit for connecting to a first power supply, so that the first power supply supplies power to the control unit and the processing unit through the first circuit; and

[0017] A second circuit for connecting to a second power supply;

[0018] Wherein, the method includes:

[0019] The control unit determines whether the power supply of the first power supply is abnormal;

[0020] In response to the abnormal power supply of the first power supply, the control unit controls the second circuit to be turned on so that the second power supply supplies power to at least the processing unit through the second circuit.

[0021] It can be seen from the above technical solutions that the present disclosure uses the control unit in the control device to determine whether the power supply of the first power supply through the first circuit is abnormal, and in response to the abnormal power supply of the first power supply, controls the second circuit to be turned on, so that the second power supply can be used as a backup power supply to supply power to at least the processing unit of the control device, thereby meeting the power supply requirements of the control device in the case of abnormal power supply.

[0022] Under specific triggering conditions, such as when a vehicle breaks down and its generator or battery cannot supply power to the control device, it is desired to be able to save some information (such as sensor data, vehicle status data, sensor status data, control unit status data, and / or processing unit status data) obtained or generated by the control device. Description of the Drawings

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0024] Figure 1 A schematic diagram of a vehicle provided by an embodiment of the present disclosure;

[0025] Figure 2 Showing a schematic structural diagram of a control device provided by an embodiment of the present disclosure;

[0026] Figure 3 A flowchart of a power supply method for a control device provided by an embodiment of the present disclosure. Detailed Embodiments

[0027] The following will clearly and completely describe the technical solutions in the embodiments of the present disclosure in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only some embodiments of the present disclosure, rather than all embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present disclosure.

[0028] The terms used in the embodiments of the present disclosure are for the purpose of describing particular embodiments only and are not intended to limit the present disclosure. The singular forms "a", "said", and "the" used in the embodiments of the present disclosure and the appended claims are also intended to include the plural forms unless the context clearly dictates otherwise.

[0029] It should be understood that the term "and / or" used herein is merely a description of an association relationship between associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " herein generally represents an "or" relationship between the associated objects before and after.

[0030] Depending on the context, the word "if" as used herein can be interpreted as "when" or "while" or "in response to determining" or "in response to detecting". Similarly, depending on the context, the phrase "if determined" or "if detected (stated condition or event)" can be interpreted as "when determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)".

[0031] Figure 1 is a schematic diagram of an exemplary vehicle 110. Although Figure 1 the vehicle 110 is illustrated as a truck, those skilled in the art will appreciate that the vehicle 110 can also be any vehicle or transportation means such as a sedan, motorcycle, bus, recreational vehicle, amusement park vehicle, streetcar, golf cart, train, trolleybus, etc.

[0032] The vehicle 110 can include various vehicle systems, such as a drive system 142, a sensor system 144, a control system 146, a computing system 150, and a communication system 152. The vehicle 110 can include more or fewer systems, and each system can include multiple units. Further, each system and unit of the vehicle 110 can be interconnected. For example, the computing system 150 can communicate data with one or more units of the drive system 142, the sensor system 144, the control system 146, and the communication system 152.

[0033] Vehicle 110 may include an autonomous driving (which may also be referred to as driverless) system, enabling it to operate fully or partially in an autonomous driving mode. In this sense, vehicle 110 is also referred to as an autonomous vehicle. Vehicle 110 can control itself (or be controlled by the autonomous driving system) in the autonomous driving mode. For example, vehicle 110 can determine the current state of the vehicle and the current state of the environment in which the vehicle is located, determine the predicted behavior of at least one other vehicle in the environment, determine the confidence level corresponding to the likelihood of the at least one other vehicle performing the predicted behavior, and control vehicle 110 itself based on the determined information. When in the autonomous driving mode, vehicle 110 can operate without human interaction. The autonomous driving system of vehicle 110 may include, for example, a sensor system 144 and a computing system 150.

[0034] The drive system 142 may include a plurality of operable components (or units) that provide kinetic energy for vehicle 110. In one embodiment, the drive system 142 may include an engine or a motor, wheels, a transmission, an electronic system, and a power source (or power supply).

[0035] The sensor system 144 may include one or more sensors for sensing condition information of vehicle 110 and surrounding environment information in various driving environments. The sensor system 144 may include one or more of an inertial measurement unit (IMU), a global navigation satellite system (GNSS) transceiver (such as a global positioning system (GPS) transceiver), a radio detection and ranging device (RADAR), a light detection and ranging system (LiDAR), an acoustic sensor, an ultrasonic sensor, and an image capture device (such as a camera). One or more sensors of the sensor system 144 may be driven individually or collectively to update the position, orientation, or both of one or more sensors.

[0036] The control system 146 is used to control the operation of the vehicle 110 and its components (or units). Accordingly, the control system 146 may include various units, such as a steering unit, a power control unit, a braking unit, and a navigation unit. The steering unit may be a mechanical combination for adjusting the forward direction of the vehicle 110. For example, the steering unit may include a steering motor, which steers the vehicle's steering wheels by manipulating a steering mechanism including a steering shaft and a steering gear for steering. The power control unit may be used to control the operating speed of the engine and thus control the speed of the vehicle 110. For example, the power control unit may include an engine actuator for changing the operating state of the vehicle's engine. An example of the engine is an internal combustion engine with a throttle for adjusting the intake air volume. In this case, the engine actuator may include a throttle actuator for changing the opening degree of the throttle. By controlling the engine actuator, the driving force of the vehicle can be controlled to change the acceleration state. The braking unit may include a mechanical combination for decelerating the vehicle 110. The braking unit can decelerate the vehicle in a standard manner by using friction. The braking unit may include a brake actuator, which can adjust the friction between the vehicle's brake pads and the brake discs fixed to the wheels to generate a braking torque to impede the movement of the vehicle. The navigation unit may be any system that determines the driving path or route for the vehicle 110. The navigation unit can also dynamically update the driving path during the travel of the vehicle 110.

[0037] The communication system 152 may include one or more communication devices to provide a way for the vehicle 110 to communicate with one or more devices or other surrounding vehicles. In an exemplary embodiment, each communication device of the communication system 152 can communicate with one or more devices directly or through a communication network. The communication system 152 may be, for example, a wireless communication system. For example, the communication devices of the communication system can use 3G cellular communication (such as CDMA, EVDO, GSM / GPRS) or 4G cellular communication (such as WiMAX or LTE), and can also use 5G cellular communication. The communication system can communicate with a wireless local area network (WLAN) (for example, using ). An example of the communication device of the communication system 152 is the telematics box TBOX. Usually, a relatively large-capacity Ni-MH battery pack is built into the TBOX to meet the call function in case of an emergency, that is, the Ni-MH battery pack powers the loads inside the TBOX, and the charging and life management of the Ni-MH battery pack are responsible by the internal components of the TBOX. The loads inside the TBOX may include various power-consuming units, such as an MCU, a 4G communication module, a CAN transceiver, an audio unit, etc. When the external power supply of the TBOX is abnormal (such as disconnected), the Ni-MH battery pack can supply power to various power-consuming units of the TBOX.

[0038] The computing system 150 may include one or more control devices for controlling some or all of the functions of the vehicle 110. The control device may include, for example, a server, a personal computer (PC), an electronic control unit ECU (such as a domain controller), etc. The control device includes at least one processing unit and at least one control unit not shown in the figure. The processing unit and the control unit execute processing instructions (i.e., machine-executable instructions) stored in a non-volatile computer-readable medium (such as a data storage device or a memory). In some embodiments, the memory may contain processing instructions (such as program logic) executed by the processor to implement various functions of the vehicle 110. The control device may include an autonomous driving control unit. The autonomous driving control unit may be composed of one or more algorithm modules for identifying, evaluating, and avoiding or passing over potential obstacles in the environment where the vehicle 110 is located. Generally, the autonomous driving control unit may be used to control the vehicle 110 in the absence of a driver, or to provide assistance to the driver in controlling the vehicle. In some embodiments, the autonomous driving control unit is used to combine data from sensors, such as data from a GPS transceiver, radar data, LiDAR data, camera data, and data from other vehicle systems, to determine the driving path or trajectory of the vehicle 110. The autonomous driving control unit may be activated to enable the vehicle 110 to be driven in an autonomous driving mode.

[0039] Although Figure 1 in the autonomous driving control unit is shown as being separated from the processing unit and the memory, it should be understood that in some embodiments, some or all of the functions of the autonomous driving control unit may be implemented using program code instructions resident in one or more memories (or data storage devices) and executed by one or more processors, and the autonomous driving control unit may, in some cases, use the same processor and / or memory (or data storage device) to implement.

[0040] Figure 2 The structural schematic diagram of the control device 200 provided by the exemplary embodiment of the present disclosure is shown. The control device 200 may be Figure 1 an example of the control device in the computing system 150. Figure 2 The schematic diagram of the communication device 300 connected to the control device 200 is also shown in Figure 1 which may be an example of the communication device in the communication system 152. In one example, the control device 200 is a domain controller and the communication device 300 is a TBOX.

[0041] As Figure 2As shown, the control device 200 includes a processing unit 201, a control unit 202, a first circuit 212, and a second circuit 214. The control device 200 may include one or more algorithm modules (such as perception, prediction, positioning, planning, control, etc. algorithm modules), and these algorithm modules may constitute, for example, an autonomous driving control unit. Some or all functions of the autonomous driving control unit may be implemented by program code instructions residing in a memory ( Figure 2 not shown in the figure) and executed by the processing unit 201.

[0042] The processing unit 201 is a unit in the control device 200 used to perform functions such as data or signal processing, and may be, for example, a SoC (System on Chip). The processing unit 201 may receive sensor data from, for example, Figure 1 the sensor system 144 shown. The processing unit 201 may execute algorithm modules (such as the algorithm modules of the autonomous driving control unit) to generate control instructions and send them to, for example, Figure 1 the control system 146 shown to control various components or units in the control system 146. For example, the processing unit 201 may send control instructions to the steering unit, power control unit, braking unit, etc. in the control system 146 to control the steering, acceleration, and braking of the vehicle respectively, so as to achieve autonomous driving without human intervention or only limited human intervention. In the present disclosure, sensor data is also referred to as sensor sensing data, including environmental data sensed or collected by sensors. For example, image data captured by a camera (also referred to as camera data), point cloud data captured by LiDAR (also referred to as LiDAR data), or data of a GPS transceiver (such as position data captured by GPS), etc.

[0043] The control unit 202 is a unit in the control device 200 that realizes control and monitoring. It may be, for example, an MCU (micro control unit). The control unit 202 is used to perform various controls and monitoring. For example, monitoring various data received by the processing unit 201 (such as sensor data), monitoring various control instructions of the processing unit 201 (such as control instructions sent to the control system 146), monitoring and / or controlling the power supply of the control device 200 and various power modules (such as a power conversion module and a PMIC), monitoring the communication status of each component (such as the processing unit 201) of the control device 200, and also monitoring whether some components in the control device 200 are abnormal.

[0044] During the process that the control unit 202 monitors the data received by the processing unit 201 (such as sensor data) and the control instructions issued, when it is found that a sensor fails or the processing unit 201 has an abnormality, it will enter the minimum safety risk condition. For example, it controls the automatic driving control unit to perform function degradation, or execute a safe stop, etc.

[0045] The first circuit 212 is used to connect to the first power supply 230 so that the first power supply 230 supplies power to the processing unit 201, the control unit 202, and other electrical components in the control device 200 through the first circuit. That is to say, the first circuit electrically connects the electrical components in the control device 200 (such as the processing unit 201 and the control unit 202) to the first power supply 230 outside the control device 200.

[0046] The first power supply is also referred to as the system power supply or the main power supply of the control device 200. The first power supply 230 can be a vehicle generator or a battery. When the vehicle engine is in operation, the engine drives the generator to convert mechanical energy from the engine into electrical energy. In one implementation, the generator is electrically connected to the battery to store the generated electrical energy in the battery, and the battery is electrically connected to the control device 200 to further supply the electrical energy in the battery to the control device 200. In one implementation, the generator is electrically connected to the control device 200, so that the generator directly (without passing through the battery) supplies electrical energy to the control device 200.

[0047] The second circuit 214 is used to connect to the second power supply 80. When the power supply of the first power supply 230 to the control device 200 is normal, the second circuit 214 is in an open state. When the power supply of the first power supply 230 to the control device 200 is abnormal (such as the voltage of the first power supply is too low), the second circuit 214 electrically connects the electrical components in the control device 200 (such as the processing unit 201) to the second power supply 80 outside the control device 200 (that is, the second circuit 214 is in a closed state at this time) so that the second power supply 80 supplies power to the electrical components in the control device 200 (such as the processing unit 201).

[0048] The control unit 202 can control the second circuit 214 according to the power supply state of the first power supply 230 to make the second circuit connect or disconnect. Specifically, the control unit 202 can monitor and determine whether the power supply of the first power supply 230 is abnormal (such as whether the voltage of the first power supply is too low or abnormally disconnected); in response to determining that the power supply of the first power supply 230 is abnormal (such as the voltage of the first power supply is too low or abnormally disconnected), connect the second circuit 214 so that the second power supply 80 supplies power to the electrical components in the control device 200 (such as the processing unit 201).

[0049] That is to say, the present disclosure monitors the power supply of the first power supply 230 by using the control unit 202 in the control device 200. In response to an abnormal power supply of the first power supply 230, for example, the voltage of the first power supply 230 is too low, the circuit between the second power supply 80 and the power-consuming components of the control device 200 is turned on, so that the second power supply 80 can supply power to the power-consuming components (such as the processing unit 201) of the control device as a backup power supply.

[0050] In one implementation, the second power supply 80 is a battery pack in another device outside the control device 200 (such as the communication device 300), for example, the Ni-MH (nickel-metal hydride) battery pack in the TBOX (telematics box). As Figure 2 shown, the second power supply 80 is connected to the load in the communication device 300 through an electronic switch.

[0051] The TBOX is a remote communication device on the vehicle. Usually, a large-capacity Ni-MH battery pack is built in the TBOX to meet the call function in case of an emergency, that is, the Ni-MH battery pack supplies power to the internal load of the TBOX. According to the embodiments of the present disclosure, the reuse of the battery pack in other devices (such as the TBOX) of the vehicle can be realized, and the additional arrangement of the battery pack for the abnormal system power supply (i.e., the first power supply) in the control device 200 is avoided. On the one hand, the design difficulty of the control device 200 is reduced, and on the other hand, the cost is saved.

[0052] In one implementation, the second circuit 214 may include a switch 216. When the power supply of the first power supply to the control device 200 is normal, the switch 216 is turned off to avoid the interference and influence of the output of the power conversion module 218 of the control device 200 on the second power supply 80 and other components in the communication device 300. The control unit 202 controls the switch 216 of the second circuit 214 to be closed to turn on the second circuit 214 when it determines that the power supply of the first power supply 230 is abnormal.

[0053] In one implementation, the above switch 216 is an electronic switch, which may include one or more field effect transistors, such as MOS (metal oxide semiconductor) field effect transistors. The control unit 202 controls the on / off of the MOS field effect transistors to realize the on / off of the second circuit.

[0054] In one implementation, as Figure 2As shown, the second circuit switch may include two field effect transistors 20 and 30. The G (gate) of both field effect transistors 20 and 30 is connected to the control unit 202. The field effect transistors 20 and 30 are connected in series (back-to-back connection). For example, the D (drain) of the field effect transistor 20 is used to connect to the processing unit 201, the S (source) of the field effect transistor 20 is connected to the S (source) of the field effect transistor 30, and the D (drain) of the field effect transistor 30 is used to connect to the second power supply 80. Alternatively, the S (source) of the field effect transistor 20 can be used to connect to the processing unit 201, the D (drain) of the field effect transistor 20 is connected to the D (drain) of the field effect transistor 30, and the S (source) of the field effect transistor 30 is used to connect to the second power supply 80. An example of the field effect transistors 20 and 30 is P-channel MOS transistors, but the connection method (direction) is different. If the field effect transistors 20 and 30 are not placed back-to-back or the switch 216 has only one field effect transistor, then reverse leakage current will be formed when the field effect transistor is turned off, which will cause interference and impact on the output of the power conversion module 218 to the second power supply 80 and other components in the communication device 300.

[0055] Generally, even when a field effect transistor is turned off, there is usually a small current flowing through its body. Even if such a current is very small, it will still cause interference and impact on the components in the control device 200 and / or the communication device 300. By setting the two field effect transistors in a series back-to-back connection, it is possible to prevent the leakage current in the body of the field effect transistor from interfering with and affecting the components in the control device 200 and / or the communication device 300 when the field effect transistor is turned off.

[0056] In one implementation, the above control device 200 may further include a switch control unit 105. The G (gate) of the field effect transistors 20 and 30 is connected to the control unit 202 through the switch control unit 105. The switch control unit 105 may include a triode, such as a bipolar transistor. The control unit 202 can control the field effect transistors 20 and 30 of the switch 216 to turn on and off simultaneously through the switch control unit 105, thereby turning on or off the second circuit 214.

[0057] The control unit 202 can trigger the switch control unit 105 in response to determining that the first power supply is abnormally powered. In response to the trigger of the control unit 202, the switch control unit 105 closes the switch 216 of the second circuit 214 (i.e., both field effect transistors 20 and 30 are turned on) to turn on the second circuit 214.

[0058] After the power supply of the first power supply 230 is abnormal and before the second circuit 214 is turned on, there may be a time period (i.e., a time gap, the length of which is, for example, several milliseconds). Therefore, in order to control the power supply of the device 200 not to be interrupted during this time gap, the control device 200 may further include an energy storage capacitor. The energy storage capacitor and the second power supply 80 constitute two-level backup power supplies of the control device 200, that is, the energy storage capacitor is the primary backup power supply and the second power supply 80 is the secondary backup power supply. The energy storage capacitor can supply power to the control unit 202 and the processing unit 201 at least when the power supply of the first power supply 230 is abnormal and the second circuit 214 is not turned on. This can ensure that in the case of an abnormal power supply of the first power supply 230, the energy storage capacitor can maintain the normal operation of the processing unit 201 for a short time (i.e., the time gap described above), and then switch to being powered by the second power supply 80, so as to ensure that in the scenario of an abnormal power supply of the control device 200 system, the control device 200 can be continuously powered for a period of time to support the control device 200 to execute certain functions.

[0059] In one implementation, the energy storage capacitor can be a capacitor that supplies power to the control unit 01 and the processing unit 02 simultaneously when the power supply of the first power supply is abnormal.

[0060] In one implementation, as Figure 2 shown, the energy storage capacitor may include a first capacitor 70 and a second capacitor 40.

[0061] One end of the first capacitor 70 is connected to the first circuit 212 and the control unit 202, and the other end can be grounded, for example. When the power supply of the first power supply 230 is normal, the first capacitor 70 can be charged by the first power supply 230; when the power supply of the first power supply 230 is abnormal and the second circuit 214 is not turned on, it can supply power to the control unit 202. In one example, during the operation of the control unit 202, the connection between the first capacitor 70 and the control unit 202 is always kept on, so that when the power supply of the first power supply 230 is abnormal, the first capacitor 70 can immediately supply power to the control unit 202, and there is no time gap between the abnormal power supply of the first power supply 230 and the start of the first capacitor 70 supplying power to the control unit 202.

[0062] In one implementation, considering that the processing unit 201 consumes a large amount of power and the control unit 202 consumes a small amount of power, it is also possible that after the second circuit 214 is turned on, the first capacitor 70 still supplies power to the control unit 202. After the second circuit 214 is turned on, the second power supply only supplies power to the processing unit 201 and does not supply power to the control unit 202.

[0063] In one implementation, when the power supply of the first power supply 230 is abnormal, the second power supply 80 not only supplies power to the processing unit 201, but also supplies power to the control unit 202 simultaneously.

[0064] One end of the second capacitor 40 is connected to the first circuit 212, the second circuit 213 and the processing unit 201, and the other end can be grounded, for example. When the power supply of the first power supply 230 is normal, the second capacitor 40 is charged by the first power supply 230; when the power supply of the first power supply 230 is abnormal and the second circuit 214 is not connected, it can supply power to the processing unit 201. In one example, during the operation of the processing unit 201, the second capacitor 40 is always kept connected to the processing unit 201, so that when the power supply of the first power supply 230 is abnormal, the second capacitor 40 can immediately supply power to the processing unit 201, and there is no time gap between the abnormal power supply of the first power supply 230 and the start of the second capacitor 40 to supply power to the processing unit 201.

[0065] That is to say, the first capacitor 70 and the second capacitor 40 can be set in the control device 200 to supply power to the control unit 202 and the processing unit 201 respectively. After the power supply of the first power supply 230 is abnormal and the second circuit 214 is connected, the second power supply 80 supplies power to the processing unit 201 through the second circuit 214.

[0066] The control unit 202 monitors the power supply status of the first power supply 230, which can include but is not limited to: monitoring the supply voltage and / or supply current of the first power supply 230. In one example, the abnormal power supply of the first power supply 230 includes that the supply voltage or the supply current of the first power supply 230 is too low. One case of the abnormal power supply of the first power supply 230 is that the first power supply 230 loses power (that is, the first power supply stops supplying power to the control device 200), and at this time, the supply voltage or the supply current of the first power supply 230 is zero or close to zero. The control unit 202 can determine the supply voltage or the supply current of the first power supply 230 by monitoring the voltage or current on the first circuit 212. The control unit 202 can compare the supply voltage and supply current of the first power supply 230 with the preset voltage threshold and current threshold to determine whether the supply voltage of the first power supply 230 is too low or whether the supply current is too low. If the supply voltage of the first power supply 230 is too low (or the supply current is too low) and lasts for a preset duration, it can be considered that a system power supply abnormality has occurred. In one example, the voltage threshold is the lowest operating voltage of the control device 200, and the control unit 202 monitors the supply voltage of the first power supply 230 in real time. When the supply voltage of the first power supply 230 is less than or equal to the voltage threshold and lasts for a preset duration, it can be considered that the power supply of the first power supply 230 is abnormal.

[0067] In one implementation, the control device 200 includes a PMIC (Power Management IC, integrated power management circuit). The PMIC 215 is connected between the control unit 20 and the first circuit 212 and the capacitor 70. The PMIC receives the power supply input from the first power supply 230 (or the capacitor 70), and after internal conversion and control, provides electrical energy to the control unit 202. For example, the PMIC can convert the voltage of the first power supply (or the capacitor 70) into the voltage required for the operation of the control unit 202, and the PMIC can ensure that the voltage provided to the control unit 202 is stable within a small voltage range when the voltage of the first power supply (or the capacitor 70) fluctuates within a large range. In one example, the PMIC 215 can monitor the voltage or current on the first circuit 212 and notify the control unit 202 of the monitoring result. In one example, the control unit 202 directly (i.e., without passing through the PMIC 215) monitors the voltage or current on the first circuit 212.

[0068] In one implementation, in order to meet the power supply voltage requirements of the processing unit 201 in the control device 200, as Figure 1 shown, a power conversion module 218 is further included in the control device 200. The power conversion module 218 is connected between the processing unit 201 and the first circuit 212, the second circuit 214 and the capacitor 40. The power conversion module 218 receives the power supply input from the first power supply 230 (or the second power supply, or the capacitor 40), and after internal conversion and control, provides electrical energy to the control unit 202. For example, the power conversion module 218 can convert the voltage of the first power supply 230 (or the second power supply, or the capacitor 40) into the voltage required for the operation of the processing unit 201, and the power conversion module 218 can ensure that the voltage provided to the processing unit 201 is stable within a small voltage range when the voltage of the first power supply (or the second power supply, or the capacitor 40) fluctuates within a large range. That is to say, the power conversion module 218 not only has the function of voltage conversion, but also has the function of voltage stabilization, and can provide a stable voltage for the processing unit 201.

[0069] The power conversion module 218 may include, for example, a primary power module 203 and a secondary power module 204. The input of the primary power module 203 can be connected to the first power supply 230, and its output is connected to the secondary power module 204 and the second capacitor 40. The primary power module 203 is used to convert the voltage of the first power supply 230 and output the converted voltage to the secondary power module 204 and the second capacitor 40. In this way, when the power supply of the first power supply is normal, the second capacitor 40 can be charged through the primary power module 203.

[0070] The input of the secondary power supply module 204 can be connected to the primary power supply module 203, the second circuit 214, and the second capacitor 40, and its output is connected to the processing unit 201. When the power supply of the first power supply 230 is normal, the secondary power supply module 204 converts the voltage output by the primary power supply module 203 into the voltage required for the operation of the processing unit 201; when the power supply of the first power supply 230 is abnormal and the second circuit 214 is not connected, it converts the voltage of the second capacitor 40; when the second circuit 214 is connected, it converts the voltage of the second power supply 80; and provides the converted voltage to the processing unit 201.

[0071] Generally, the voltage of the first power supply 230 is much larger than the voltage required for the operation of the processing unit 201. The voltage of the first power supply is provided to the processing unit 201 after being converted twice by the primary power supply module 203 and the secondary power supply module 204. Using two power supply modules instead of one power supply module can prevent the difference between the input and output voltages of each power supply module from being too large, and the voltage finally provided to the processing unit 201 has good stability.

[0072] The control device 200 may further include a non-volatile memory communicatively connected to the control unit 202 and / or the processing unit 201, such as a flash memory (also referred to as a non-volatile flash memory), an EEPROM (Electrically Erasable Programmable Read Only Memory), a FRAM (Ferroelectric Random Access Memory), a FeTRAM (Ferroelectric Transistor Random Access Memory), etc. The control unit 202 and the processing unit 201 can write data into the non-volatile memory. The data written into the non-volatile memory may include various status data (such as vehicle status data, sensor status data, control unit status data, and / or processing unit status data) and sensor data (i.e., various data collected and generated by the sensors).

[0073] The control unit 202 can write data into a non-volatile memory that is communicatively connected to the control unit 202. The data can include various status data obtained or generated by the control unit 202, such as vehicle status data and control unit status data. The vehicle status data can include, for example, vehicle position, the driving status of the vehicle (such as speed and / or forward direction), and / or the status of the vehicle's controllers (other controllers outside the autonomous driving system), etc. The control unit status data can include various data regarding the status of the control unit. The status of the control unit, for example, includes the heartbeat status, communication status, working status (such as sleep, wake-up, running, etc.), power supply status (including whether the power supply input is overvoltage, undervoltage, overcurrent, power-off, etc.), temperature status, and the status of various signals (such as enable signal, control signal, reset signal, etc.). The control unit 202 can also write the data into a non-volatile memory that is communicatively connected to the processing unit 201 through the processing unit 201. The processing unit 201 can write data into a non-volatile memory that is communicatively connected to the processing unit 201. The data can include sensor data obtained or received by the processing unit 201 and various status data obtained or generated by the processing unit 201, such as sensor status data, processing unit status data, etc. The processing unit status data can include various data regarding the status of the processing unit. The status of the processing unit, for example, includes the heartbeat status, communication status, working status (such as sleep, wake-up, running, etc.), power supply status (including whether the power supply input is overvoltage, undervoltage, overcurrent, power-off, etc.), temperature status, and the status of various signals (such as enable signal, control signal, reset signal, etc.). The sensor status data can include various data regarding the status of the sensor, for example, the working status of the sensor, the connection status of the sensor, the frame rate output by the sensor, data such as the voltage or temperature of the sensor. The working status of the sensor can, for example, include statuses such as the sensor is running, idle, or abnormal.

[0074] In one implementation, the non-volatile memory of the control device 200 can include a plurality of non-volatile memories that are respectively communicatively connected to the processing unit 201 and the control unit 202. The non-volatile memory communicatively connected to the control unit 202 can be, for example, a non-volatile random access memory 60 that is communicatively connected to the control unit 202. The non-volatile random access memory 60 can be, such as FRAM or FeTRAM, etc.

[0075] In one implementation, the non-volatile memory communicatively connected to the processing unit 201 includes a first and a second non-volatile memory. The second non-volatile memory has a faster access speed and / or lower power consumption than the first non-volatile memory, and the first non-volatile memory has a larger storage space than the second non-volatile memory. The data written by the processing unit 201 in the non-volatile memory may include first data and second data. The processing unit 201 may write the first data in the first non-volatile memory and the second data in the second non-volatile memory. The first non-volatile memory is, for example, a non-volatile flash memory 90 communicatively connected to the processing unit 201, and the second non-volatile memory is, for example, a non-volatile random access memory 50 communicatively connected to the processing unit 201. The non-volatile random access memory 50 may be, such as, FRAM or FeTRAM, etc.

[0076] Specifically, when the power supply of the first power supply is abnormal, the processing unit 201 writes the first data in the first non-volatile memory (for example, the non-volatile flash memory 90), the processing unit 201 writes the second data in the second non-volatile memory (for example, the non-volatile random access memory 50), and the control unit 202 writes its data (also referred to as third data) in the non-volatile memory communicatively connected to the control unit 202 (i.e., the third non-volatile memory), for example, the non-volatile random access memory 60.

[0077] The first data includes, for example, multimedia data such as pictures and videos in the sensor data, and the second data includes, for example, other sensor data and status data other than the multimedia data. The status data in the second data may include the status data of sensors (for example, the sensors of the sensor system 144), the status data of the processing unit, etc. The third data includes, for example, vehicle status data, control unit status data, etc. The vehicle status data may include, such as, vehicle position, the driving status of the vehicle, and / or the status of the vehicle's controller (other controllers outside the autonomous driving system), etc.

[0078] For example, when the power supply of the first power supply is abnormal, the processing unit 201 may write some sensor data (for example, multimedia data such as pictures and videos) in the non-volatile flash memory 90, and write other sensor data (for example, other sensor data other than the multimedia data) and status data (for example, sensor status data, the status data of the processing unit) in the non-volatile random access memory 50. The control unit 202 writes the vehicle status data and / or the control unit status data in the non-volatile random access memory 60.

[0079] When the power supply of the first power supply is normal, the processing unit 201 writes its data (i.e., the first and second data) into the first non-volatile memory (such as the non-volatile flash memory 90), and the control unit 202 writes its data (i.e., the third data) into the first non-volatile memory (such as the non-volatile flash memory 90) through the processing unit 201. In one example, considering that when the power supply of the first power supply 230 is normal, data will be continuously written into the first non-volatile memory, thus exhausting the storage space of the first non-volatile memory, and the data stored in the first non-volatile memory for a time exceeding the threshold is deleted.

[0080] In one implementation, in order to ensure that the first, second, and / or third data are aligned in time, when writing these data into the corresponding non-volatile memories, the timestamps of these data are also recorded, and the timestamps can reflect the acquisition time or generation time of the relevant data.

[0081] The non-volatile random access memory 60 and the non-volatile random access memory 50 have a faster access speed and / or lower power consumption than the non-volatile flash memory 90, and the non-volatile flash memory 90 has a larger storage space than the non-volatile random access memory 60 and the non-volatile random access memory 50. In the case of abnormal system power supply, although data is quickly written into the non-volatile random access memory 60 and the non-volatile random access memory 50 to avoid data loss, some multimedia data such as pictures and videos require a relatively large storage space, so the multimedia data can be stored in the non-volatile flash memory 90. In this way, by implementing a hierarchical storage strategy, the control device 200 can achieve a balance between the storage speed of data and the space required to store the data.

[0082] In one implementation, the non-volatile random access memory 60 and the non-volatile random access memory 50 are ferroelectric non-volatile memories FRAM. Different from flash memory or EEPROM which need to be erased before writing, FRAM supports write-overwrite, greatly improving the write time and effectively increasing the amount of data written per unit time to meet the requirement of data non-loss after power-off. Using ferroelectric non-volatile memories can shorten the write time as much as possible during the abnormal power supply of the first power supply and improve the utilization rate of the backup power supply (i.e., the second power supply and the energy storage capacitor). In this way, when the power supply of the first power supply is abnormal, the control device can quickly write data into the non-volatile memory, so as to shorten the data write time as much as possible during the abnormal power supply of the first power supply and improve the utilization rate of the backup power supply, which helps to store more data when the energy storage of the second power supply is certain.

[0083] In one implementation, the control device 200 may further include a monitoring unit 206 for monitoring whether the second power supply 80 is abnormal. During the period when the second power supply 80 powers the control device, the monitoring unit 206 monitors the second power supply 80 in real time to determine whether the voltage of the second power supply 80 is within a preset range. In addition, each time the vehicle is started (or when the control device 200 is turned on), the control device 200 checks the second power supply 80. The control device 200 closes the switch 216 through the switch control unit 105, and then the monitoring unit 206 detects the voltage of the second power supply 80 to determine whether the voltage of the second power supply 80 is within the preset range. When the voltage of the second power supply 80 is not within the preset range, that is, when the second power supply 80 is abnormal, the monitoring unit 206 notifies the control unit 202, and the control unit 202 sends a prompt message indicating power supply abnormality to the staff through a relevant prompt device, or stores information indicating the abnormality of the second power supply in a non-volatile memory (such as a non-volatile random access memory 60).

[0084] It should be noted here that the above monitoring unit 206 may be set as a separate unit (such as a separate chip), or may be set as a functional module in the control unit 202.

[0085] Although the above has described the present disclosure by taking the control device 200 being located in a vehicle as an example, those skilled in the art can understand that the control device 200 provided by the embodiments of the present disclosure can be applied to various systems, such as robots and the like.

[0086] Traditionally, a vehicle uses an Event Data Recorder (EDR for short) to record relevant data of the vehicle when a collision event occurs. On the one hand, this can be used by relevant departments to restore the collision scene to a certain extent through the recorded data; on the other hand, the recorded data can be used to analyze the cause of the accident. The EDR is usually equipped with a capacitor as a backup power supply, so that the EDR can still record data before and after a collision event in the case of a power outage.

[0087] For autonomous vehicles, in order to record multiple categories of data before, during, and after the occurrence of recordable events similar to those of EDR devices, an Automated Driving Data Storage System (DSSAD) needs to be installed in the vehicle. The DSSAD can record one or more of the basic information of the vehicle and the control device of the autonomous driving system (such as a domain controller), vehicle status and dynamic information, operation information of the control device of the autonomous driving system (such as a domain controller), driving environment information, and driver operation and status information before, during, and after reaching a trigger condition (such as a vehicle failure, which may cause abnormal system power supply of the vehicle's control device). The driving environment information involves image or video data.

[0088] However, on the one hand, the data recording volume of the DSSAD for a single event far exceeds that of ordinary EDRs. On the other hand, the rated power of the control device of the autonomous driving system (such as a domain controller) is much greater than that of other traditional vehicle ECUs. Therefore, the power and time that the backup power supply of the DSSAD needs to support far exceed those of the backup power supply of ordinary EDRs.

[0089] If an independent set of DSSAD software and hardware systems is arranged in the vehicle, it will pose challenges to the vehicle's E / E (electronics and electrical) architecture and increase the software development cost of autonomous driving-related components, thus resulting in an increase in the overall cost. If the DSSAD is integrated inside the control device (such as a domain controller), the domain controller needs to have a backup power supply. However, due to the large power consumption for maintaining the basic functions of the domain controller, if an energy storage capacitor is used as the backup power supply method inside the domain controller, it cannot meet the requirements of the DSSAD due to the energy storage limitation of the energy storage capacitor. If a large-capacity backup battery is used inside the domain controller, the development cost of the domain controller will increase significantly.

[0090] According to the solution proposed in the present disclosure, the large-capacity battery (such as a nickel-metal hydride battery) of another device outside the control device (such as a TBOX that meets the emergency call function) is reused as a backup power supply for the DSSAD, which can avoid increasing the development cost of the control device due to using a large-capacity backup battery inside the control device.

[0091] According to the embodiment proposed in the present disclosure, on the basis of using the backup power supply outside the control device, the capacitor inside the control device is further utilized to form a two-level backup power supply scheme (the capacitor inside the control device is the primary backup power supply of the DSSAD system, and the backup power supply outside the control device is the secondary backup power supply of the DSSAD system), so that when a trigger condition (such as a vehicle failure causing power loss of the control device system power supply) is reached, the DSSAD can continuously save data.

[0092] Meanwhile, according to the embodiments provided by the present disclosure, adopting a data storage strategy of hierarchical storage in non-volatile memory can improve the efficiency of data storage.

[0093] Figure 3 The flowchart of the power supply method for the control device provided by the embodiments of the present disclosure, where the control device can be Figure 2 the control device 200 shown in the figure. The following refers to Figure 3 and combines with Figure 2 to describe the power supply method of the control device.

[0094] As Figure 3 shown, in step 301, the control unit (such as Figure 2 the control unit 202 shown in the figure) monitors the power supply of the first power supply. In step 302, the control unit determines whether the power supply of the first power supply is abnormal. If so, step 304 is executed; otherwise, step 303 is executed.

[0095] The control unit is responsible for monitoring the power supply status of the first power supply, which may include but is not limited to: monitoring the power supply voltage and / or power supply current of the first power supply, etc. The control unit can compare the power supply voltage and power supply current of the first power supply with the preset voltage threshold and current threshold to determine whether the power supply voltage of the first power supply is too low, or whether the power supply current is too low. If the power supply voltage of the first power supply is too low (or the power supply current is too low) and lasts for a preset duration, it can be considered that a power supply abnormality has occurred.

[0096] In step 303, the processing unit writes the relevant status data and sensor data into the non-volatile memory (such as the non-volatile flash memory 90).

[0097] If the power supply of the first power supply is normal, the primary power supply module 203 of the power conversion module 218 converts the voltage of the first power supply and outputs the converted voltage to supply the secondary power supply module 204 and the second capacitor 40. The secondary power supply module 204 converts the voltage output by the primary power supply module and provides the converted voltage to the processing unit. The voltage of the first power supply can be converted through, for example, the PMIC 215 to supply power to the control unit.

[0098] When the power supply of the first power supply is normal, both field effect transistors 20 and 30 included in the second circuit are not conducting (i.e., in the cut-off state).

[0099] When the power supply of the first power supply is normal, the control unit can write the relevant status data into the non-volatile memory (such as the non-volatile flash memory 90) through the processing unit.

[0100] In step 304, the control unit controls the second circuit to be turned on so that the second power supply supplies power to at least the processing unit through the second circuit.

[0101] Before the second circuit is turned on, the energy storage capacitor can supply power to the control unit and the processing unit. In one implementation, when the power supply of the first power supply is abnormal and the second circuit is not turned on, the first capacitor 70 supplies power to the control unit. When the power supply of the first power supply is normal, the first capacitor is charged by the first power supply. In addition, since the power supply required by the control unit is relatively small, the first capacitor can still supply power to the control unit after the second circuit is turned on. When the power supply of the first power supply is abnormal and the second circuit is not turned on, the second capacitor 40 supplies power to the processing unit. The second capacitor is charged by the first power supply when the power supply of the first power supply is normal.

[0102] The control unit can trigger the switch control unit 105 in response to determining that the power supply of the first power supply is abnormal, and the switch control unit closes the switch 216 (that is, both field effect transistors 20 and 30 of the second circuit are turned on) to turn on the second circuit. The switch control unit can control the field effect transistors 20 and 30 to be turned on simultaneously, thereby turning on the second circuit.

[0103] In one example, when determining that the power supply of the first power supply is abnormal, the control unit can record the state of the first power supply and the timestamp information of the corresponding event at this time.

[0104] In step 305, the control unit determines whether the power supply of the second power supply is abnormal. If so, step 306 is executed; otherwise, steps 307a, 307b, and 307c are executed.

[0105] The monitoring unit 206 can monitor whether the second power supply is abnormal, and in response to the abnormal power supply of the second power supply, notify the control unit, and the control unit issues a prompt message for power supply abnormality.

[0106] In step 306, the control unit records the information of the abnormal second power supply and safely exits. For example, the control unit can store the information indicating the abnormal second power supply in the non-volatile memory, and command the control device 200 to shut down, thereby realizing the safe exit of the control device 200.

[0107] In step 307a, the processing unit writes the first sensor data carrying the timestamp into the first non-volatile memory (such as non-volatile flash memory 90), where the first sensor data includes multimedia data.

[0108] The multimedia data can include data such as pictures and videos collected by the sensor. This type of data requires a relatively large storage space. Therefore, in order to ensure the reliability of storage, it is stored in a non-volatile memory such as a flash memory.

[0109] In step 307b, the processing unit writes the second sensor data carrying the timestamp, the sensor status data, and / or the processing unit status data into the second non-volatile memory (such as non-volatile random access memory 50).

[0110] For other data in the sensor data, as well as sensor status data, processing unit status data, etc., they can be written into a second non-volatile memory such as F-RAM. F-RAM does not need to be erased before writing, supports write-overwrite, can greatly improve the writing time, and effectively increase the amount of data written per unit time.

[0111] In step 307c, the control unit writes the vehicle status data and / or control unit status data carrying timestamps into a third non-volatile memory (such as non-volatile random access memory 60).

[0112] Among them, the vehicle status information may include, for example, vehicle position, driving status of the vehicle, status of each controller in the vehicle (other controllers outside the autonomous driving system), and so on.

[0113] The above describes specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be executed in a different order from that in the embodiments and still achieve the desired results. Additionally, the processes depicted in the drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0114] Each embodiment in this specification is described in a progressive manner. For the same or similar parts between the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the method embodiments, since they are basically similar to the embodiments of the control device, they are described relatively simply. For the relevant parts, reference can be made to the partial description of the embodiments of the control device.

[0115] The above provides a detailed introduction to the technical solutions provided by this disclosure. Specific examples are used herein to elaborate on the principles and implementation manners of this disclosure. The description of the above embodiments is only used to help understand the method and its core idea of this disclosure; at the same time, for those of ordinary skill in the art, based on the idea of this disclosure, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to this disclosure.

[0116] The above is only a preferred embodiment of this disclosure and is not intended to limit this disclosure. Any modifications, equivalent replacements, etc. made within the spirit and principles of this disclosure shall be included within the protection scope of this disclosure.

Claims

1. A control device, comprising: A control unit; A processing unit; A first circuit for connecting to a first power supply so that the first power supply powers the control unit and the processing unit through the first circuit; And A second circuit for connecting to a second power supply, Wherein, the control unit is configured to: Determine whether the power supply of the first power supply is abnormal; In response to the abnormal power supply of the first power supply, control the second circuit to be turned on so that the second power supply powers at least the processing unit through the second circuit.

2. The control device according to claim 1, characterized in that, The second power supply is arranged in other devices outside the control device.

3. The control device according to claim 1, further comprising an energy storage capacitor; The energy storage capacitor is used to power the control unit and the processing unit at least before the second circuit is turned on when the power supply of the first power supply is abnormal.

4. The control device according to claim 3, wherein, The energy storage capacitor includes a first capacitor and a second capacitor; The first capacitor is used to power the control unit at least before the second circuit is turned on when the power supply of the first power supply is abnormal; The second capacitor is used to power the processing unit at least before the second circuit is turned on when the power supply of the first power supply is abnormal.

5. The control device according to claim 4, the control device further comprising a primary power module and a secondary power module; The primary power module is used for: Converting the voltage input by the first power supply and outputting the converted voltage to supply the secondary power module and the second capacitor; The secondary power module is used for: When the power supply of the first power supply is normal, converting the voltage output by the primary power module and providing the converted voltage to the processing unit; When the power supply of the first power supply is abnormal and the second circuit is not turned on, converting the voltage provided by the second capacitor and providing the converted voltage to the processing unit; When the second circuit is turned on, converting the voltage input by the second power supply and providing the converted voltage to the processing unit.

6. The control device according to claim 1, wherein, The second circuit includes a switch, The control unit is configured to control the switch to close to turn on the second circuit in response to determining that the power supply of the first power supply is abnormal.

7. The control device according to claim 1, wherein The second circuit includes a switch, and the control device further includes a switch control unit; The control unit is configured to trigger the switch control unit in response to determining that the power supply of the first power supply is abnormal; The switch control unit is used to close the switch to turn on the second circuit in response to the trigger of the control unit.

8. The control device according to claim 1, wherein, The control device further includes a non-volatile memory; The processing unit is configured to write status data and sensor data into the non-volatile memory in response to the normal power supply of the first power supply, wherein the status data includes sensor status data or vehicle status data received by the processing unit from the control unit.

9. The control device according to claim 1, wherein, The control device further includes a first non-volatile memory and a second non-volatile memory, the second non-volatile memory has a faster access speed than the first non-volatile memory, and the first non-volatile memory has a larger storage space than the second non-volatile memory, The processing unit is configured to write first data into the first non-volatile memory and write second data into the second non-volatile memory in response to a power supply anomaly of the first power supply.

10. The control device according to claim 9, wherein, The control device further includes a third non-volatile memory, wherein the third non-volatile memory has a faster access speed than the first non-volatile memory, and the first non-volatile memory has a larger storage space than the third non-volatile memory; The control unit is configured to write third data into the third non-volatile memory in response to a power supply anomaly of the first power supply.

11. The control device according to claim 10, Among them, The first data includes first sensor data, and the first sensor data includes multimedia data, wherein the second data includes at least one of second sensor data, sensor status data, and processing unit status data, wherein the third data includes at least one of vehicle status data and control unit status data.

12. The control device according to claim 10, wherein, At least one of the second non-volatile memory and the third non-volatile memory includes a ferroelectric memory.

13. The control device according to claim 1, further includes a monitoring unit for determining whether the second power supply is abnormal when the second power supply is electrically connected to the second circuit, and sending a prompt message of power supply anomaly in response to the second power supply anomaly.

14. The control device according to claim 1, wherein, When the second circuit is turned on, the second power supply also supplies power to the control unit.

15. The control device according to any one of claims 1 to 14, wherein, The control unit includes an MCU, and the processing unit includes an SoC.

16. A vehicle includes the control device according to any one of claims 1 to 15, and a remote communication box TBOX, wherein the TBOX includes the second power supply.

17. The vehicle according to claim 16, wherein the second power supply includes a battery pack.

18. The vehicle according to claim 17, wherein the battery pack includes a nickel-metal hydride Ni-MH battery.

19. A power supply method for a control device, wherein, The control device includes: A control unit; A processing unit; A first circuit for connecting to a first power supply so that the first power supply supplies power to the control unit and the processing unit through the first circuit; and A second circuit for connecting to a second power supply; wherein the method includes: The control unit determines whether the power supply of the first power supply is abnormal; The control unit controls the second circuit to be turned on in response to the power supply anomaly of the first power supply so that the second power supply supplies power to at least the processing unit through the second circuit.

20. The power supply method according to claim 19, further includes: The control unit records the timestamp information of the first power supply status and related events in response to the power supply anomaly of the first power supply.

21. The power supply method according to claim 19, wherein the control device further includes an energy storage capacitor for supplying power to the control unit and the processing unit at least before the second circuit is turned on when the power supply of the first power supply is abnormal.

22. The power supply method according to claim 19, wherein, The control device further includes a first non-volatile memory, a second non-volatile memory, and a third non-volatile memory. The second non-volatile memory and the third non-volatile memory have a faster access speed than the first non-volatile memory, and the first non-volatile memory has a larger storage space than the second non-volatile memory and the third non-volatile memory. The method further includes: In response to a power supply anomaly of the first power supply, the processing unit writes the first sensor data carrying a time stamp into the first non-volatile memory, where the first sensor data includes multimedia data, and writes at least one of the second sensor data carrying a time stamp, the sensor status data, and the processing unit status data into the second non-volatile memory. In response to the power supply anomaly of the first power supply, the control unit writes at least one of the vehicle status data carrying a time stamp and the control unit status data into the third non-volatile memory.

23. The power supply method according to claim 22, wherein, At least one of the second and third non-volatile memories includes a ferroelectric memory.

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