Domain controller, vehicle control method and control system, vehicle and storage medium

Abstract

The invention discloses a domain controller, and the domain controller determines a first control signal through first vehicle information collected by an information collection unit connected with the domain controller, and sends the first control signal to a plurality of first controlled units connected with the domain controller, so that the first controlled units execute corresponding operation according to the indication of the first control signal. Thus, according to the information collection unit, the domain controller can determine the corresponding first control signal according to the first vehicle information according to the collected first vehicle information, so that the first controlled unit is controlled to execute the corresponding operation according to the first control signal. A plurality of functions in the vehicle can depend on the domain controller to complete data processing, and the computing power is centralized. After the first control signal is sent to the first controlled unit, the first controlled unit can execute the corresponding operation according to the self function and the first control signal, the domain controller does not consider the receiving object of the first control signal, the signal sending efficiency of the domain controller is improved, and the vehicle execution efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and particularly relates to a domain controller, a control method for a vehicle, a control system for a vehicle, a vehicle, and a computer-readable storage medium. Background Art

[0002] In a traditional EE (Electrical Electronic) architecture, a vehicle includes multiple ECUs (Electronic Control Units) to achieve different independent functions. For example, during vehicle braking, multiple ECUs may be required to separately complete functions such as vehicle state detection, target torque calculation, torque arbitration, and torque distribution. However, in this way, the vehicle computing power is dispersed among multiple ECUs, resulting in low braking execution efficiency of the vehicle. Summary of the Invention

[0003] The present application provides a domain controller, a control method for a vehicle, a control system for a vehicle, a vehicle, and a computer-readable storage medium.

[0004] An embodiment of the present application provides a domain controller for a vehicle. The domain controller is connected to an information acquisition unit of the vehicle and is connected to multiple first controlled units of the vehicle;

[0005] The domain controller is configured to determine a first control signal according to first vehicle information acquired by the information acquisition unit, and send the first control signal to the multiple first controlled units, where the first control signal instructs the multiple first controlled units to perform corresponding operations.

[0006] The domain controller for a vehicle provided by the embodiment of the present application can determine a first control signal according to first vehicle information acquired by the connected information acquisition unit, and send the first control signal to multiple first controlled units connected to itself, so that the first controlled units perform corresponding operations according to the instruction of the first control signal.

[0007] Thus, in the embodiments of the present application, when the information collection unit in the vehicle collects the first vehicle information such as vehicle deceleration information, the domain controller can determine the corresponding first control signal according to the first vehicle information of the information collection unit, so as to control a plurality of first controlled units of the vehicle to perform corresponding operations according to the first control signal. For example, it enables components such as calipers and motors related to braking to perform corresponding operations. Therefore, multiple functions in the vehicle can rely on the domain controller to complete corresponding data processing. For example, functions such as vehicle state detection, target torque calculation, torque arbitration, and torque distribution during vehicle braking can all be completed by the domain controller, and the vehicle computing power is centralized. After the embodiments of the present application send the first control signal to the plurality of first controlled units, any one of the plurality of first controlled units can perform corresponding operations according to its own function and the received first control signal, so that the domain controller does not need to consider the receiving object of the first control signal, thereby improving the signal sending efficiency of the domain controller to a certain extent, and further improving the overall execution efficiency of the vehicle.

[0008] In some embodiments, the domain controller is connected to a plurality of second controlled units of the vehicle;

[0009] The domain controller is configured to determine a second control signal according to the second vehicle information collected by the plurality of second controlled units, and send the second control signal to the plurality of second controlled units, wherein the second control signal instructs the plurality of second controlled units to perform corresponding operations.

[0010] Thus, in the embodiments of the present application, the second controlled units in the vehicle can perform corresponding operations after receiving the second control signal, so that the data processing related to the second controlled units in the vehicle can all be completed by the domain controller, and the computing power of the domain controller is fully utilized.

[0011] In some embodiments, the first control signal includes torque control information.

[0012] In some embodiments, the first vehicle information includes current accelerator pedal opening information, current operating mode information, current vehicle speed information, and current vehicle gear information, and the domain controller is configured to determine the torque control information according to the current accelerator pedal opening information, the current operating mode information, the current vehicle speed information, and the current vehicle gear information, so as to obtain the first control signal.

[0013] Thus, the implementation mode of the present application enables the drive control of the vehicle to be completed by the domain controller. In other words, after the domain controller determines the torque control information to obtain the first control signal based on the current accelerator pedal opening information, the current operating mode information, the current vehicle speed information, and the current vehicle gear information collected or detected by the first information collection unit, the first control signal is sent to the first controlled unit, so that the first controlled unit performs corresponding operations according to the first control signal, causing the vehicle to generate corresponding driving force to accelerate.

[0014] In some implementation modes, the domain controller is configured to:

[0015] Determine the torque control information according to the current accelerator pedal opening information, the current vehicle speed information, the current vehicle gear information, and the target mapping relationship, where the target torque mapping information is determined according to the current operating mode information and the torque mapping information corresponding to each pre-determined operating mode, and the torque mapping information includes torque, and the accelerator pedal, vehicle speed, and vehicle gear torque corresponding to the torque.

[0016] Thus, in the implementation mode of the present application, after determining the corresponding torque mapping information, that is, the target mapping information, according to the operating mode information, and then determining the corresponding torque according to the current accelerator pedal opening information, the current vehicle speed information, and the current vehicle gear information, the torque control information can be obtained. Therefore, the acquisition efficiency of the torque control information is guaranteed.

[0017] In some implementation modes, the first vehicle information includes the current brake pedal opening information, and the domain controller is configured to determine the torque control information according to the target braking torque, where the target braking torque is determined according to the current brake pedal opening information.

[0018] Thus, in the implementation mode of the present application, after the user steps on the brake pedal to change the brake pedal opening, the domain controller can also determine the target braking torque according to the current brake pedal opening information, generate the corresponding torque control information according to the target braking torque, and then generate the corresponding first control signal. Furthermore, when the first controlled unit receives the first control signal and obtains the torque control information, it can perform corresponding operations to cause the vehicle to generate the target braking torque, meeting the braking requirements of the user.

[0019] In some implementation modes, the first vehicle information includes the current battery state information and the current drive motor state information, and the domain controller is configured to:

[0020] Determine the torque control information according to the target braking torque and the current maximum braking torque, where the current maximum braking torque is determined according to the current battery state information and the current drive motor state information.

[0021] Thus, the embodiment of the present application enables the domain controller to determine the current maximum braking torque that the vehicle can generate based on the current driving motor state information. Furthermore, the domain controller can determine the corresponding torque control information based on the current maximum braking torque and the target braking torque, such as determining the torque control information according to the smaller value of the current maximum braking torque and the target braking torque, so that the determination of the torque control information can be carried out more reasonably.

[0022] In some embodiments, the first vehicle information includes the current vehicle speed information, and the domain controller is configured to:

[0023] Determine the torque control information based on the target braking torque, the current maximum braking torque, and the feedback torque, where the feedback torque is determined based on the current battery state information, the current driving motor state information, and the current vehicle speed information.

[0024] Thus, the embodiment of the present application enables the domain controller in the vehicle to determine the feedback torque based on the current battery state information, the current driving motor state information, and the current vehicle speed information, that is, to determine that the vehicle can perform battery energy feedback during braking. Then, based on the target braking torque, the current maximum braking torque, and the feedback torque, the corresponding torque control information is determined. For example, based on the smaller value of the target braking torque and the current maximum braking torque, and the feedback torque, the corresponding torque control information is generated, so that after the first controlled unit receives the first control signal, the vehicle can generate a braking torque of the aforementioned smaller value, and a part of the braking torque is composed of the feedback torque, thereby enabling the vehicle braking to be completed based on the feedback torque.

[0025] In some embodiments, the first vehicle information includes the current wheel speed information, and the domain controller is configured to determine the torque control information based on the current slip information, where the current slip information is determined based on the current wheel speed information and the vehicle speed information corresponding to the current wheel speed information.

[0026] Thus, the domain controller according to the embodiment of the present application can also generate the corresponding torque control information and the first control signal based on the current slip information determined by the current wheel speed information and the current vehicle speed information. Furthermore, the first controlled unit that receives the first control signal and obtains the torque control information can perform corresponding operations, such as decelerating the vehicle, thereby ensuring the stable driving of the vehicle to a certain extent.

[0027] In some embodiments, the torque control information includes torque reduction information, the plurality of first controlled units include a drive motor, the first vehicle information includes the currently generated torque of the drive motor, and the domain controller is configured to, when the current slip information indicates that the vehicle slip rate is higher than a preset value, determine the torque reduction information of the drive motor based on the currently generated torque and the current slip information to obtain the torque control information. Wherein, the drive motor is configured to reduce the currently generated torque according to the torque reduction information when obtaining the torque reduction information in the first control signal.

[0028] In this way, the embodiments of the present application enable the domain controller to determine the corresponding torque reduction information and torque control information according to the currently generated torque of the drive motor when the vehicle slip rate is higher than the preset value. Further, the domain controller sends the first control signal to the plurality of first controlled units. When the drive motor receives the first control signal, the drive motor can obtain the torque reduction information according to the first control signal and reduce the currently generated torque according to the torque reduction information, so that the vehicle speed is reduced and the stable driving of the vehicle is ensured.

[0029] In some embodiments, the first vehicle information includes current vehicle steering information, and the domain controller is configured to determine the torque control information according to the vehicle steering angle, vehicle steering torque, and vehicle steering speed, where the vehicle steering angle, vehicle steering torque, and vehicle steering speed are determined according to the current vehicle steering information.

[0030] In this way, the embodiments of the present application enable the domain controller to determine the corresponding torque control information according to the vehicle steering angle, vehicle steering torque, and vehicle steering speed determined by the current vehicle steering information during the vehicle steering process, so that the first controlled unit in the vehicle can complete the vehicle steering operation according to the torque control information, and the data processing during the vehicle steering process can be reliably or efficiently completed by the domain controller, and the vehicle steering can be carried out reliably.

[0031] In some embodiments, the torque control information includes torque adjustment information, the first vehicle information includes current wheel speed information, vehicle acceleration information, vehicle yaw angle information, and the currently generated torque of the drive motor. The domain controller is configured to determine the torque adjustment information based on the vehicle steering angle, the vehicle steering torque, the vehicle steering speed, the current slip information, the current vehicle speed information, the vehicle offset information, and the currently generated torque to obtain the torque control information. Wherein, the current slip information is determined based on the current wheel speed information, the vehicle offset information is determined based on the vehicle acceleration information and the vehicle yaw angle information, and the drive motor is configured to, when obtaining the torque adjustment information in the first control signal, perform braking according to the torque adjustment information so that the forward direction of the vehicle matches the vehicle steering angle.

[0032] In this way, the domain controller according to the embodiments of the present application can also determine the actual movement of the vehicle during steering based on the current slip information, the current vehicle speed information, the vehicle offset information, and the currently generated torque, and then combine the user's steering intention, that is, the vehicle steering angle, the vehicle steering torque, and the vehicle steering speed, to determine the torque adjustment information. Furthermore, after the first controlled unit, such as the drive motor, obtains the torque adjustment information according to the first control signal, it can perform corresponding operations according to the torque adjustment information so that the actual movement of the vehicle matches the user's steering intention, that is, the forward direction of the vehicle matches the aforementioned vehicle steering angle, enabling the realization of lateral trajectory repair.

[0033] An embodiment of the present application provides a control method for a vehicle. The vehicle is equipped with the above-mentioned domain controller. The method includes:

[0034] Determine a first control signal according to the first vehicle information collected by the information collection unit;

[0035] Send the first control signal to the plurality of first controlled units, where the first control signal instructs the plurality of first controlled units to perform corresponding operations.

[0036] Thus, in the embodiments of the present application, when the information collection unit in the vehicle collects the first vehicle information such as vehicle deceleration information, the domain controller can determine the corresponding first control signal according to the first vehicle information of the information collection unit, so as to control a plurality of first controlled units of the vehicle to perform corresponding operations according to the first control signal. For example, it enables components such as calipers and motors related to braking to perform corresponding operations. Therefore, multiple functions in the vehicle can rely on the domain controller to complete corresponding data processing. For example, functions such as vehicle state detection, target torque calculation, torque arbitration, and torque distribution during vehicle braking can all be completed by the domain controller, and the vehicle computing power is centralized. After the embodiments of the present application send the first control signal to a plurality of first controlled units, any one of the plurality of first controlled units can perform corresponding operations according to its own function and the received first control signal, so that the domain controller does not need to consider the receiving object of the first control signal, thereby improving the signal sending efficiency of the domain controller to a certain extent, and further enhancing the overall execution efficiency of the vehicle.

[0037] In some embodiments, the domain controller is connected to a plurality of second controlled units of the vehicle, and the method further includes:

[0038] Determining a second control signal according to the second vehicle information collected by the plurality of second controlled units;

[0039] Sending the second control signal to the plurality of second controlled units, where the second control signal instructs the plurality of second controlled units to perform corresponding operations.

[0040] Thus, in the embodiments of the present application, the second controlled units in the vehicle can perform corresponding operations after receiving the second control signal, so that the data processing related to the second controlled units in the vehicle can all be completed by the domain controller, and the computing power of the domain controller is fully utilized.

[0041] In some embodiments, the first control signal includes torque control information.

[0042] In some embodiments, the first vehicle information includes current throttle pedal opening information, current operating mode information, current vehicle speed information, and current vehicle gear information. The determining of the first control signal according to the first vehicle information collected by the information collection unit includes:

[0043] Determining the torque control information according to the current throttle pedal opening information, the current operating mode information, the current vehicle speed information, and the current vehicle gear information.

[0044] In this way, the driving control of the vehicle in the embodiments of the present application can be completed by the domain controller. That is to say, after the domain controller determines the torque control information based on the current accelerator pedal opening information, current operation mode information, current vehicle speed information, and current vehicle gear information collected or detected by the first information collection unit to obtain a first control signal, the first control signal is sent to the first controlled unit, so that the first controlled unit performs corresponding operations according to the first control signal, causing the vehicle to generate a corresponding driving force to accelerate.

[0045] In some embodiments, determining the torque control information according to the current accelerator pedal opening information, the current operation mode information, the current vehicle speed information, and the current vehicle gear information includes:

[0046] Determining the torque control information according to the current accelerator pedal opening information, the current vehicle speed information, the current vehicle gear information, and a target mapping relationship, where the target torque mapping information is determined according to the current operation mode information and the torque mapping information corresponding to each pre-determined operation mode, and the torque mapping information includes torque, and the accelerator pedal, vehicle speed, and vehicle gear torque corresponding to the torque.

[0047] In this way, in the embodiments of the present application, after the corresponding torque mapping information, that is, the target mapping information, can be determined according to the operation mode information, and then the corresponding torque can be determined according to the current accelerator pedal opening information, current vehicle speed information, and current vehicle gear information, so as to obtain the torque control information. Thus, the acquisition efficiency of the torque control information is guaranteed.

[0048] In some embodiments, the first vehicle information includes current brake pedal opening information, and the method further includes:

[0049] Determining the torque control information according to a target braking torque, where the target braking torque is based on the current brake pedal opening information.

[0050] In this way, in the embodiments of the present application, after the user steps on the brake pedal to change the brake pedal opening, the domain controller can also determine the target braking torque according to the current brake pedal opening information, and generate the corresponding torque control information according to the target braking torque, thereby generating a corresponding first control signal. Furthermore, when the first controlled unit receives the first control signal and obtains the torque control information, it can perform corresponding operations to cause the vehicle to generate the target braking torque, so as to meet the braking requirements of the user.

[0051] In some embodiments, the first vehicle information includes current battery state information and current drive motor state information, and determining the torque control information according to the target braking torque includes:

[0052] Determine the torque control information according to the target braking torque and the current maximum braking torque, where the current maximum braking torque is determined according to the current battery state information and the current drive motor state information.

[0053] In this way, the embodiment of the present application enables the domain controller to determine the current maximum braking torque that the vehicle can generate currently according to the current drive motor state information. Furthermore, the domain controller can determine the corresponding torque control information according to the current maximum braking torque and the target braking torque. For example, the torque control information is determined according to the smaller value of the current maximum braking torque and the target braking torque, so that the determination of the torque control information can be carried out more reasonably.

[0054] In some embodiments, the first vehicle information includes the current vehicle speed information. The determining the torque control information according to the target braking torque and the current maximum braking torque includes:

[0055] Determine the torque control information according to the target braking torque, the current maximum braking torque and the feedback torque, where the feedback torque is determined according to the current battery state information, the current drive motor state information and the current vehicle speed information.

[0056] In this way, the embodiment of the present application enables the domain controller in the vehicle to determine the feedback torque according to the current battery state information, the current drive motor state information and the current vehicle speed information. That is, it is determined that when the vehicle can perform battery energy feedback during braking, the corresponding torque control information is determined according to the target braking torque, the current maximum braking torque and the feedback torque. For example, the corresponding torque control information is generated according to the smaller value of the target braking torque and the current maximum braking torque and the feedback torque, so that after the first controlled unit receives the first control signal, the vehicle can generate a braking torque of the size of the smaller value, and a part of the braking torque is composed of the feedback torque, thereby enabling the vehicle braking to be completed based on the feedback torque.

[0057] In some embodiments, the first vehicle information includes the current wheel speed information. The method further includes:

[0058] Determine the torque control information according to the current slip information, where the current slip information is determined according to the current wheel speed information and the vehicle speed information corresponding to the current wheel speed information.

[0059] Thus, the domain controller according to the embodiments of the present application can also generate corresponding torque control information and a first control signal based on the current slip information determined from the current wheel speed information and the current vehicle speed information. Further, the first controlled unit that receives the first control signal and obtains the torque control information can perform corresponding operations, such as decelerating the vehicle, thereby ensuring the stable driving of the vehicle to a certain extent.

[0060] In some embodiments, the torque control information includes torque reduction information, the plurality of first controlled units include drive motors, and the first vehicle information includes the currently generated torque of the drive motors. Determining the torque control information based on the current slip information includes:

[0061] In the case where the current slip information is that the vehicle slip ratio is higher than a preset value, based on the currently generated torque and the current slip information, determine the torque reduction information of the drive motor to obtain the torque control information, where the drive motor is configured to reduce the currently generated torque according to the torque reduction information when obtaining the torque reduction information in the first control signal.

[0062] Thus, the embodiments of the present application enable the domain controller to determine corresponding torque reduction information and torque control information based on the currently generated torque of the drive motor when the vehicle slip ratio is higher than a preset value. Further, the domain controller sends the first control signal to the plurality of first controlled units. When the drive motor receives the first control signal, the drive motor can obtain the torque reduction information according to the first control signal and reduce the currently generated torque according to the torque reduction information, so that the vehicle speed is reduced and the stable driving of the vehicle is ensured.

[0063] In some embodiments, the first vehicle information includes current vehicle steering information, and the method further includes:

[0064] Determine the torque control information based on the vehicle steering angle, the vehicle steering torque, and the vehicle steering speed, where the vehicle steering angle, the vehicle steering torque, and the vehicle steering speed are determined according to the current vehicle steering information.

[0065] Thus, the embodiments of the present application enable the domain controller to determine corresponding torque control information based on the vehicle steering angle, the vehicle steering torque, and the vehicle steering speed determined from the current vehicle steering information during the vehicle steering process, so that the first controlled unit in the vehicle can complete the vehicle steering operation according to the torque control information, enabling the data processing during the vehicle steering process to be reliably or efficiently completed by the domain controller, and ensuring the reliable vehicle steering.

[0066] In some embodiments, the torque control information includes torque adjustment information, the first vehicle information includes current wheel speed information, vehicle acceleration information, vehicle yaw angle information, and the currently generated torque of the drive motor, and determining the torque control information according to the vehicle steering angle, vehicle steering torque, and vehicle steering speed includes:

[0067] Determining the torque adjustment information according to the vehicle steering angle, the vehicle steering torque, the vehicle steering speed, current slip information, current vehicle speed information, vehicle offset information, and the currently generated torque to obtain torque control information, where the current slip information is determined according to the current wheel speed information, the vehicle offset information is determined according to the vehicle acceleration information and vehicle yaw angle information, and the drive motor is configured to perform braking according to the torque adjustment information in the first control signal to make the forward direction of the vehicle match the vehicle steering angle.

[0068] In this way, the domain controller according to the embodiments of the present application can also determine the actual movement of the vehicle during steering according to the current slip information, current vehicle speed information, vehicle offset information, and the currently generated torque, and then combine the user's steering intention, that is, the vehicle steering angle, vehicle steering torque, and vehicle steering speed, to determine the torque adjustment information. Furthermore, after the first controlled unit, such as the drive motor, obtains the torque adjustment information according to the first control signal, corresponding operations can be performed according to the torque adjustment information to make the actual movement of the vehicle match the user's steering intention, that is, the forward direction of the vehicle matches the aforementioned vehicle steering angle, so that the lateral trajectory repair can be realized.

[0069] An embodiment of the present application provides a control system for a vehicle, including the above-mentioned domain controller.

[0070] An embodiment of the present application provides a vehicle, including a vehicle body;

[0071] The vehicle body is equipped with the above-mentioned domain controller, or is equipped with the above-mentioned control system for a vehicle.

[0072] An embodiment of the present application provides a vehicle, including a memory and a processor, where a computer program is stored in the memory, and when the computer program is executed by the processor, the above-mentioned method is implemented.

[0073] An embodiment of the present application provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by one or more processors, the above-mentioned method is implemented.

[0074] The vehicle control system, vehicle, and computer-readable storage medium provided by the embodiments of the present application enable the information collection unit in the vehicle to determine a corresponding first control signal according to the first vehicle information collected, such as vehicle deceleration information. The domain controller can then control multiple first controlled units of the vehicle to perform corresponding operations according to the first control signal. For example, it enables components such as calipers and motors related to braking to perform corresponding operations. Therefore, multiple functions in the vehicle can rely on the domain controller to complete corresponding data processing. For example, functions such as vehicle state detection, target torque calculation, torque arbitration, and torque distribution during vehicle braking can all be completed by the domain controller, centralizing the vehicle computing power. After the embodiments of the present application send the first control signal to multiple first controlled units, any one of the multiple first controlled units can perform corresponding operations according to its own function and the received first control signal, enabling the domain controller not to consider the recipient of the first control signal. Thus, to a certain extent, the signal sending efficiency of the domain controller is improved, and furthermore, the overall execution efficiency of the vehicle is enhanced.

[0075] Additional aspects and advantages of the embodiments of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the description of the embodiments in conjunction with the following drawings, where:

[0077] Figure 1 is a schematic diagram of a vehicle control architecture;

[0078] Figure 2 is a schematic diagram of a vehicle in some embodiments of the present application;

[0079] Figure 3 is a schematic flowchart of a vehicle control method in some embodiments of the present application;

[0080] Figure 4 is a schematic diagram of a domain controller in some embodiments of the present application;

[0081] Figure 5 is a schematic diagram of a vehicle in some embodiments of the present application;

[0082] Figure 6 is a schematic diagram of a vehicle in some embodiments of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0083] Embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and should not be construed as a limitation to the embodiments of the present application.

[0084] During driving, any operation such as steering, decelerating, and accelerating of the vehicle requires the participation of multiple sensors and multiple ECUs. Specifically, please refer to Figure 1 , Figure 1 which is a schematic diagram of the vehicle control architecture. That is, as Figure 1 shown, during braking and accelerating, the wheel speed sensor, pedal sensor, acceleration sensor, ECU of the vehicle control unit (VCU), ECU of the motor control unit (MCU), and ECU of the battery management system (BMS) are required to participate. During the steering process, the torque angle sensor, wheel speed sensor, acceleration sensor, ECU of the integrated power brake (IPB), and ECU of the electronic power steering (EPS) are required to participate. In addition, the temperature data collected by the temperature sensor needs to be sent to the ECU of the vehicle control unit, the ECU of the battery management system, and the ECU of the motor control unit to ensure that the ECU of the vehicle control unit, the ECU of the battery management system, and the ECU of the motor control unit can determine whether their functions can be reliably executed according to the temperature data. For example, when the vehicle temperature is too high, the motor control unit needs to prevent the motor speed from rising further.

[0085] Furthermore, taking the braking process as an example, when the ECU of the vehicle control unit, the ECU of the battery management system, the ECU of the motor control unit, and the ECU of the integrated power brake work together to complete the braking process, each ECU needs to transfer the data calculated or generated by itself to another ECU. For example, the ECU of the battery management system needs to send the state of charge (SOC) of the power battery to the ECU of the vehicle control unit and the ECU of the motor control unit. The ECU of the vehicle control unit needs to send the required torque corresponding to the braking pedal opening to the ECU of the motor control unit. The ECU of the motor control unit then needs to send the current torque of the motor to the ECU of the vehicle control unit.

[0086] Therefore, the total response time of the vehicle braking after the user steps on the braking pedal may include the calculation time, logical processing time of each ECU, and data interaction time between different ECUs, etc.

[0087] Therefore, if a complex function requires a large number of ECUs to participate, the response time of this function will be difficult for users to tolerate. At the same time, with the complication of user requirements and function upgrades, the number of sensors and ECUs required to implement each function is also increasing. Factors such as the connection relationship between the ECU and the sensor and the communication requirements between the ECUs will make the vehicle wiring more and more difficult, and the vehicle weight and vehicle cost will also increase continuously.

[0088] Based on the above possible problems, please refer to Figure 2 , an embodiment of the present application provides a domain controller 110 for a vehicle. The domain controller 110 is connected to an information collection unit 120 of the vehicle, and the domain controller 110 is connected to a plurality of first controlled units 130 of the vehicle. The domain controller 110 is configured to determine a first control signal according to the first vehicle information collected by the information collection unit 120, and send the first control signal to the plurality of first controlled units 130, where the first control signal instructs the plurality of first controlled units 130 to perform corresponding operations.

[0089] Please refer to Figure 3 , an embodiment of the present application also provides a control method for a vehicle equipped with the above domain controller 110. The method includes:

[0090] 01: Determine a first control signal according to the first vehicle information collected by the information collection unit 120;

[0091] 02: Send the first control signal to the plurality of first controlled units 130, where the first control signal instructs the plurality of first controlled units 130 to perform corresponding operations.

[0092] An embodiment of the present application also provides a vehicle, which includes a memory and a processor. The control method of the vehicle in the embodiment of the present application can be implemented by the vehicle in the embodiment of the present application. Specifically, a computer program is stored in the memory, and the processor is configured to determine a first control signal according to the first vehicle information collected by the information collection unit 120; send the first control signal to the plurality of first controlled units 130, where the first control signal instructs the plurality of first controlled units 130 to perform corresponding operations.

[0093] That is to say, the vehicle according to the embodiment of the present application is arranged based on a domain-controlled electronic and electrical architecture. The vehicle is divided into multiple areas, and the components in each area are controlled by a corresponding domain controller 110. The domain controllers 110 in different areas are connected to each other to exchange data. For example, in some embodiments, the vehicle is divided into a power domain, an intelligent driving domain, a cockpit domain, a chassis domain, and a body domain. Therefore, the vehicle includes a power domain controller 110, an intelligent driving domain controller 110, a cockpit domain controller 110, a chassis domain controller 110, and a body domain controller 110. Each domain controller 110 is responsible for all components within its own area. For example, the power domain controller 110 can be responsible for the control of the hydraulic braking unit and the drive motor, and the body domain controller 110 can be responsible for the control of the suspension.

[0094] In some other embodiments, the vehicle is divided into a front domain, a rear domain, a left domain, a right domain, and an intelligent cockpit domain. Therefore, the vehicle includes a front domain controller 110, a rear domain controller 110, a left domain controller 110, a right domain controller 110, and an intelligent cockpit domain controller 110.

[0095] Based on the domain-controlled electronic and electrical architecture, the domain controller 110 in the embodiment of the present application is connected to each information collection unit 120 within its own area. Among them, the information collection unit 120 can be understood as a device including sensors and capable of collecting or detecting the operating parameters of components in the vehicle. For example, a sensor for collecting the opening of the brake pedal or the opening of the drive pedal. Another example is a temperature sensor for collecting the temperature of the power battery.

[0096] Further, in the case where multiple information collection units 120 are all connected to a domain controller 110, the domain controller 110 can perform data processing functions such as determining the user's intention, calculating torque, and distributing torque according to the data collected by each information collection unit 120. For example, after the domain controller 110 determines the opening of the throttle pedal according to the data collected by the throttle pedal opening sensor, and combines the data collected by other sensors (such as the wheel speed sensor), it determines the user's required torque. Finally, it generates a first control signal according to the user's required torque and broadcasts the first control signal on the in-vehicle local area network, that is, sends the first control signal to multiple first controlled units 130 connected to itself.

[0097] Further, after receiving the first control signal, the first control unit 130 of the embodiment of the present application can perform corresponding operations according to the data in the first control signal. For example, when the drive torque status bit in the first control signal is 1 instead of 0, the first control unit 130 related to driving (such as a drive motor) can perform corresponding control operations according to the first control signal to accelerate or drive the vehicle. It can be understood that the operations that each first control unit 130 not related to driving (such as a hydraulic braking unit) can perform can be "maintain the current state unchanged", that is, an operation of "not performing any processing".

[0098] For another example, in some embodiments, the first control signal includes "the braking torque N1 assigned to the first control unit A", "the braking torque N2 assigned to the first control unit B", and "the braking torque N3 assigned to the first control unit C". Further, when the first control unit A, the first control unit B, and the first control unit C each receive the first control signal, the first control unit A performs corresponding operations to generate a braking force of magnitude N1, the first control unit B performs corresponding operations to generate a braking force of magnitude N2, and the first control unit C performs corresponding operations to generate a braking force of magnitude N3, thereby completing vehicle braking.

[0099] It can be envisioned that the domain controller 110 and each first control unit 130 in the embodiment of the present application can be in the same local area network. Therefore, the domain controller 110 can directly broadcast the first control signal in the local area network so that each first control unit 130 in the local area network can perform corresponding operations after receiving the first control signal broadcast by the domain controller 110.

[0100] In summary, in the embodiment of the present application, when the information collection unit 120 in the vehicle collects the first vehicle information such as vehicle deceleration information, the domain controller 110 can determine the corresponding first control signal according to the first vehicle information of the information collection unit 120, so as to control multiple first control units 130 of the vehicle to perform corresponding operations according to the first control signal. For example, it enables components such as calipers and motors related to braking to perform corresponding operations. Therefore, multiple functions in the vehicle can rely on the domain controller 110 to complete corresponding data processing. For example, functions such as vehicle state detection, target torque calculation, torque arbitration, and torque distribution during vehicle braking can all be completed by the domain controller, and the vehicle computing power is centralized. After the embodiment of the present application sends the first control signal to multiple first control units 130, any one of the multiple first control units 130 can perform corresponding operations according to its own function and the received first control signal, so that the domain controller 110 does not need to consider the recipient of the first control signal, thereby improving the signal sending efficiency of the domain controller 110 to a certain extent, and further enhancing the overall execution efficiency of the vehicle.

[0101] It is also understandable that, limited by the number of pins and computing power, not all sensors in the vehicle may be connected to a domain controller 110. Each sensor in the vehicle may be connected to the domain controller 110 corresponding to its own area. And the domain controllers 110 may be connected to each other. Furthermore, assuming that the left domain controller 110 needs specific data collected by a certain sensor in the right domain, the left domain controller 110 may send a request to the right domain controller 110, so that the right domain controller 110 forwards the aforementioned specific data to the left domain controller 110. It can be understood that based on this connection method, the forwarding and interaction of various types of data can be completed based on a smaller number of domain controllers 110, so the data transmission efficiency is guaranteed.

[0102] Moreover, when a domain controller 110 integrates multiple functional modules or multiple functions, such as when a domain controller 110 simultaneously integrates the functions of ECU units related to power and chassis, that is, when it has data processing function modules corresponding to VCU, MCU, BMS, IPB, and EPS respectively, when the vehicle performs drive control or deceleration control related to power and chassis, the domain controller 110 can calculate or process the corresponding data processing results according to the data processing function module integrated in itself and corresponding to VCU, and forward the data processing results to one or a combination of the data processing function modules corresponding to MCU, BMS, IPB, and EPS respectively. It can be understood that compared with the aforementioned situation where multiple ECUs are installed in the vehicle and data forwarding is performed between any two ECUs, the embodiment of the present application also enables data forwarding to be completed inside the domain controller 110, making data forwarding transform into data calling, so the data processing efficiency and usage efficiency are improved.

[0103] In addition, it should be noted that the specific structure of the first controlled unit 130 in the embodiment of the present application is content that can be set according to the actual situation. For example, in some embodiments, reference can be made to 4, Figure 4 is a schematic diagram of the first controlled unit 130 in some embodiments of the present application. That is, each first controlled unit 130 may have a power port, a ground port, and a network port. At the same time, each network port may be used to connect to CAN-FD (Controller Area Network with Flexible Data Rate), and furthermore, each first controlled unit 130 can be controlled by the same network protocol.

[0104] In some embodiments of the present application, please refer to Figure 5, the domain controller 110 is connected to multiple second controlled units 140 of the vehicle. The domain controller 110 is configured to determine a second control signal according to the second vehicle information collected by the multiple second controlled units 140, and send the second control signal to the multiple second controlled units 140, wherein the second control signal instructs the multiple second controlled units 140 to perform corresponding operations.

[0105] The control method provided by the embodiment of the present application further includes:

[0106] Determine a second control signal according to the second vehicle information collected by the multiple second controlled units 140, and send the second control signal to the multiple second controlled units 140, wherein the second control signal instructs the multiple second controlled units 140 to perform corresponding operations.

[0107] The processor of the embodiment of the present application is further configured to determine a second control signal according to the second vehicle information collected by the multiple second controlled units 140, and send the second control signal to the multiple second controlled units 140, wherein the second control signal instructs the multiple second controlled units 140 to perform corresponding operations.

[0108] It should be noted that the second controlled unit 140 in the embodiment of the present application can be understood as a component that can both receive and send signals and perform corresponding operations according to the received signals. For example, in some embodiments, the second controlled unit 140 may include a door lock opening and closing unit.

[0109] Further, when the door lock opening and closing unit receives a door locking instruction sent by the user to the vehicle through a device such as a car key or a mobile terminal, the door lock opening and closing unit receives the door locking signal and sends the door locking signal to the domain controller 110. After verifying that the door locking signal is valid, the domain controller 110 can send a second control signal to each second controlled unit 140. After receiving the second control signal, the door lock opening and closing unit in the second controlled unit 140 can perform a locking operation according to the second control signal.

[0110] It can be understood that the second controlled unit 140 in the embodiment of the present application can also be in the same local area network as the domain controller 110. Furthermore, the domain controller 110 can broadcast the second control signal within the local area network so that each second controlled unit 140 within the local area network can receive the second control signal and perform corresponding operations. For example, after receiving the second control signal, the aforementioned door lock opening and closing unit can perform a locking operation according to the second control signal. In contrast, the second controlled unit 140 that is not the door lock opening and closing unit can perform an operation of "keeping the current state unchanged", that is, not performing any processing.

[0111] In this way, the implementation mode of the present application enables the second controlled unit 140 in the vehicle to perform corresponding operations after receiving the second control signal, so that all data processing related to the second controlled unit 140 in the vehicle can be completed by the domain controller 110, and the computing power of the domain controller 110 can be fully utilized.

[0112] In some implementation modes of the present application, the first control signal includes torque control information.

[0113] That is to say, the domain controller 110 in the implementation mode of the present application can determine the driving force or braking force that the vehicle is intended to generate after the user steps on the brake pedal or the drive pedal according to the information collected by each information collection unit 120, so as to generate torque control information.

[0114] Further, after generating the torque control information, the domain controller 110 can generate a corresponding first control signal according to the torque control information and send the first control signal to multiple first controlled units 130, so that each first controlled unit 130 performs corresponding operations after receiving the first control signal and obtaining the torque control information, so as to make the vehicle generate a driving force or a braking force to meet the user's intention.

[0115] In some implementation modes of the present application, the first vehicle information includes the current throttle pedal opening information, the current operation mode information, the current vehicle speed information, and the current vehicle gear information. The domain controller 110 is configured to determine the torque control information according to the current throttle pedal opening information, the current operation mode information, the current vehicle speed information, and the current vehicle gear information.

[0116] In the control method of the implementation mode of the present application, step 01 includes:

[0117] Determine the torque control information according to the current throttle pedal opening information, the current operation mode information, the current vehicle speed information, and the current vehicle gear information.

[0118] The processor in the implementation mode of the present application is further used to determine the torque control information according to the current throttle pedal opening information, the current operation mode information, the current vehicle speed information, and the current vehicle gear information.

[0119] That is to say, the first information collection unit 120 of the embodiment of the present application may include multiple units, such as a throttle pedal sensor for collecting throttle pedal opening information, a wheel speed sensor (or vehicle speed sensor) for collecting vehicle speed information, a gear detection unit for detecting the vehicle gear (i.e., forward gear or reverse gear), and a mode detection unit for detecting the vehicle operation mode. Therefore, after receiving the information collected or detected by the foregoing first information collection unit 120 at the current moment, that is, the current throttle pedal opening information, the current operation mode information, the current vehicle speed information, and the current vehicle gear information, the domain controller 110 can determine the vehicle driving force required by the user based on the current throttle pedal opening information, the current operation mode information, the current vehicle speed information, and the current vehicle gear information, thereby determining the corresponding torque control information, and further generating the corresponding first control signal.

[0120] It can be understood that after the domain controller 110 determines that the vehicle throttle pedal has been depressed according to the acquired current throttle pedal opening information, it can determine the driving force required by the driver to accelerate the vehicle based on the current throttle pedal opening information in combination with the current operation mode information, the current vehicle speed information, and the current vehicle gear information. Or rather, it can determine the torque control information.

[0121] It can also be understood that after the domain controller 110 determines the torque control information, it can generate the corresponding first control signal according to the torque control information and send the first control signal to each first controlled unit 130. Further, after the components related to vehicle acceleration receive the first control signal, they can perform corresponding operations according to the first control signal to accelerate the vehicle, that is, generate the driving force required by the user.

[0122] In this way, the drive control of the vehicle in the embodiment of the present application can be completed by the domain controller 110. Or rather, after the domain controller 110 determines the torque control information to obtain the first control signal based on the current throttle pedal opening information, the current operation mode information, the current vehicle speed information, and the current vehicle gear information collected or detected by the first information collection unit 120, it sends the first control signal to the first controlled unit 130, so that the first controlled unit 130 performs corresponding operations according to the first control signal, causing the vehicle to generate the corresponding driving force to accelerate.

[0123] In addition, it can also be understood that the specific process of determining the torque control information based on the current throttle pedal opening information in combination with the current operation mode information, the current vehicle speed information, and the current vehicle gear information can be set according to the actual situation.

[0124] In addition, it should be noted that in some embodiments of the present application, the current vehicle speed information can be determined according to the current wheel speed information collected by the wheel speed sensor in the vehicle, combined with a pre-set vehicle speed calculation method or a vehicle speed calculation module, that is, the current vehicle speed information.

[0125] In some embodiments of the present application, the domain controller 110 is configured to determine the torque control information according to the current accelerator pedal opening information, the current vehicle speed information, the current vehicle gear information and the target mapping relationship, wherein the target torque mapping information is determined according to the current operation mode information and the torque mapping information corresponding to each pre-determined operation mode, and the torque mapping information includes torque, and the accelerator pedal, vehicle speed and vehicle gear torque corresponding to the torque.

[0126] In the control method provided by the embodiment of the present application, the step of determining the torque control information according to the current accelerator pedal opening information, the current operation mode information, the current vehicle speed information and the current vehicle gear information includes:

[0127] Determine the torque control information according to the current accelerator pedal opening information, the current vehicle speed information, the current vehicle gear information and the target mapping relationship, wherein the target torque mapping information is determined according to the current operation mode information and the torque mapping information corresponding to each pre-determined operation mode, and the torque mapping information includes torque, and the accelerator pedal, vehicle speed and vehicle gear torque corresponding to the torque.

[0128] The processor provided by the embodiment of the present application is further configured to determine the torque control information according to the current accelerator pedal opening information, the current vehicle speed information, the current vehicle gear information and the target mapping relationship, wherein the target torque mapping information is determined according to the current operation mode information and the torque mapping information corresponding to each pre-determined operation mode, and the torque mapping information includes torque, and the accelerator pedal, vehicle speed and vehicle gear torque corresponding to the torque.

[0129] That is to say, the vehicle according to the embodiment of the present application pre-stores the torque mapping information corresponding to different operation modes of the vehicle. Furthermore, the vehicle according to the embodiment of the present application can determine the target torque mapping information corresponding to the current operation mode from the torque mapping information corresponding to each operation mode according to the current operation mode.

[0130] Exemplarily, it is assumed that the vehicle can be set with operating modes including a normal driving mode, an economy mode, and a sport mode. The pre-stored torque mapping information of the vehicle includes the torque mapping information inform1 corresponding to the normal driving mode, the torque mapping information inform2 corresponding to the economy mode, and the torque mapping information inform3 corresponding to the sport mode. Further, if the domain controller 110 determines that the current operating mode is the sport mode according to the current operating mode information, the domain controller 110 can use the torque mapping information inform3 as the target mapping relationship.

[0131] It should also be noted that the torque mapping information in the embodiments of the present application can be understood as a mapping table with "throttle pedal, vehicle speed, vehicle gear" as the key (keyword) and "torque" as the value (value). Further, the domain controller 110 can determine the corresponding value, that is, the torque, from the target torque mapping information according to the current throttle pedal opening information, the current vehicle speed information, the current vehicle gear information, and the target mapping relationship, thereby obtaining a torque control signal.

[0132] In this way, in the embodiments of the present application, after determining the corresponding torque mapping information according to the operating mode information, that is, the target mapping information, the corresponding torque can be determined according to the current throttle pedal opening information, the current vehicle speed information, and the current vehicle gear information, so as to obtain torque control information. Thus, the acquisition efficiency of the torque control information is ensured.

[0133] In addition, it can also be understood that the foregoing mapping table is only a feasible implementation manner, and the present application can also adopt other implementation manners such as functions or neural network models to set the torque mapping information.

[0134] In some embodiments of the present application, the first vehicle information includes the current brake pedal opening information, and the domain controller 110 is configured to determine torque control information according to the target braking torque, where the target braking torque is determined according to the current brake pedal opening information.

[0135] In the control method of the embodiments of the present application, step 01 includes:

[0136] Determine torque control information according to the target braking torque, where the target braking torque is determined according to the current brake pedal opening information.

[0137] The processor of the embodiments of the present application is further configured to determine torque control information according to the target braking torque, where the target braking torque is determined according to the current brake pedal opening information.

[0138] That is, the domain controller 110 according to the embodiment of the present application can also, after the user steps on the brake pedal, or rather, after the current brake pedal opening information indicates that the brake pedal has been stepped on, determine a corresponding braking torque, that is, the target braking torque, according to the current brake pedal opening information.

[0139] Further, after obtaining the target braking torque, the domain controller 110 can also determine corresponding torque control information according to the target braking torque, so that the brake-related components perform corresponding operations, causing the vehicle to generate corresponding braking force, thereby meeting the user's needs or intentions.

[0140] In this way, according to the embodiment of the present application, after the user steps on the brake pedal to change the brake pedal opening, the domain controller 110 can determine the target braking torque according to the current brake pedal opening information, generate corresponding torque control information according to the target braking torque, thereby generating a corresponding first control signal. Further, when the first controlled unit 130 receives the first control signal and obtains the torque control information, it can perform corresponding operations to cause the vehicle to generate the target braking torque, meeting the user's braking requirements.

[0141] In some embodiments of the present application, the first vehicle information includes the current battery state information and the current drive motor state information, and the domain controller 110 is configured to:

[0142] Determine the current maximum braking torque according to the current battery state information and the current drive motor state information;

[0143] Determine the torque control information according to the target braking torque and the current maximum braking torque.

[0144] In the control method according to the embodiment of the present application, the step of determining the torque control information according to the target braking torque, where the target braking torque is determined according to the current brake pedal opening information, includes:

[0145] Determine the torque control information according to the target braking torque and the current maximum braking torque, where the current maximum braking torque is determined according to the current battery state information and the current drive motor state information.

[0146] The processor according to the embodiment of the present application is further configured to determine the torque control information according to the target braking torque and the current maximum braking torque, where the current maximum braking torque is determined according to the current battery state information and the current drive motor state information.

[0147] That is, after determining the user's required torque, i.e., the target braking torque, the domain controller 110 of the embodiment of the present application will also combine the actual situation of the drive motor, i.e., the current drive motor state information, to determine the maximum braking torque that the vehicle can actually achieve, i.e., the current maximum braking torque. It can be understood that the specific content of the current drive motor state information in the embodiment of the present application can be set according to the actual situation. For example, in some embodiments, the current drive motor state information includes the rotational speed and temperature of the drive motor.

[0148] Further, after determining the current maximum braking torque, the domain controller 110 can determine the magnitude of the braking torque that the vehicle will ultimately generate according to the smaller value of the current maximum braking torque and the target braking torque.

[0149] For example, if among the current maximum braking torque and the target braking torque, the target braking torque is less than the current maximum braking torque, the vehicle will generate torque control information with the target braking torque, i.e., generate a corresponding first control signal. After the first controlled unit 130 receives the first control signal and performs the corresponding operation, the vehicle will generate a braking force with the magnitude of the target braking torque.

[0150] On the contrary, if the current maximum braking torque is less than or equal to the target braking torque, after the first controlled unit 130 receives the first control signal and performs the corresponding operation, the vehicle will generate a braking force with the magnitude of the current maximum braking torque.

[0151] In this way, the embodiment of the present application enables the domain controller 110 to determine the current maximum braking torque that the vehicle can generate currently according to the current drive motor state information. Furthermore, the domain controller 110 can determine the corresponding torque control information according to the current maximum braking torque and the target braking torque. For example, determine the torque control information according to the smaller value of the current maximum braking torque and the target braking torque, so that the determination of the torque control information can be carried out more reasonably.

[0152] In some embodiments of the present application, the first vehicle information includes the current vehicle speed information. The domain controller 110 is configured to determine the torque control information according to the target braking torque, the current maximum braking torque, and the feedback torque, where the feedback torque is determined according to the current battery state information, the current drive motor state information, and the current vehicle speed information.

[0153] In the control method of the embodiment of the present application, the step of determining the torque control information according to the target braking torque and the current maximum braking torque includes:

[0154] Determine the torque control information according to the target braking torque, the current maximum braking torque, and the feedback torque, where the feedback torque is determined according to the current battery state information, the current drive motor state information, and the current vehicle speed information.

[0155] The processor according to the embodiments of the present application is further configured to determine the torque control information according to the target braking torque, the current maximum braking torque, and the feedback torque, where the feedback torque is determined according to the current battery state information, the current drive motor state information, and the current vehicle speed information.

[0156] That is, the domain controller 110 according to the embodiments of the present application can also determine whether the vehicle needs to perform braking feedback according to the current battery state information, the current drive motor state information, and the current vehicle speed information, that is, determine whether to allocate a certain braking torque in the form of feedback torque.

[0157] Further, the domain controller 110 determines whether the vehicle battery needs to perform energy feedback according to the current battery state information, the current drive motor state information, and the current vehicle speed information, that is, according to the current power of the power battery (corresponding to the current battery state information), the current vehicle speed of the vehicle, the current rotation speed and current temperature of the drive motor, etc. (corresponding to the current drive motor state information). If so, the corresponding feedback torque is determined.

[0158] Finally, determine the torque control information according to the target braking torque, the current maximum braking torque, and the feedback torque. For example, the domain controller 110 can determine the final braking torque that the vehicle actually needs to generate according to the smaller value of the target braking torque and the current maximum braking torque. At the same time, a part of the final braking torque is replaced by the feedback torque.

[0159] For example, assume that the smaller value of the target braking torque and the current maximum braking torque is 2000N, and the feedback torque determined by the domain controller 110 is 1000N. After all the first controlled units 130 in the vehicle receive the first control signal, the hydraulic braking units in all the first controlled units 130 can generate a braking force of 1000N, and the drive motor can generate a feedback torque of 1000N, thereby enabling the vehicle to complete braking.

[0160] Thus, the implementation mode of the present application enables the domain controller 110 in the vehicle to determine the feedback torque according to the current battery state information, the current driving motor state information and the current vehicle speed information. That is, it is determined that when the vehicle can perform battery energy feedback during braking, according to the target braking torque, the current maximum braking torque and the feedback torque, the corresponding torque control information is determined. For example, according to the smaller value of the target braking torque and the current maximum braking torque, and the feedback torque, the corresponding torque control information is generated, so that after the first controlled unit 130 receives the first control signal, the vehicle can generate a braking torque of the size of the smaller value, and a part of the braking torque is composed of the feedback torque, thereby enabling the vehicle braking energy to be completed based on the feedback torque.

[0161] In some implementation modes of the present application, the first vehicle information includes the current wheel speed information, and the domain controller 110 is configured to determine the torque control information according to the current slip information, where the current slip information is determined according to the current wheel speed information and the vehicle speed information corresponding to the current wheel speed information.

[0162] In some implementation modes of the present application, step 01 includes:

[0163] Determine the torque control information according to the current slip information, where the current slip information is determined according to the current wheel speed information and the vehicle speed information corresponding to the current wheel speed information.

[0164] The processor of the implementation mode of the present application is further configured to determine the torque control information according to the current slip information, where the current slip information is determined according to the current wheel speed information and the vehicle speed information corresponding to the current wheel speed information.

[0165] That is, in order to avoid the situation that during the driving process of the vehicle, due to the wet road surface, the wheels slip seriously, the slip rate of the vehicle is relatively high, and the risk of wheel out of control is relatively high, the domain controller 110 can also determine the current vehicle speed information of the vehicle according to the current wheel speed information detected by the wheel speed sensor, and then calculate the slip rate of the vehicle according to the current vehicle speed information and the current wheel speed information of the vehicle, so as to obtain the current slip information.

[0166] Finally, the domain controller 110 can determine the corresponding torque control information according to the current slip information, so that after generating the first control signal, the first controlled unit 130 that receives the first control signal and obtains the torque control information can generate a certain braking torque to reduce the vehicle speed, thereby maintaining the vehicle body stability.

[0167] Thus, the domain controller 110 according to an embodiment of the present application can also generate corresponding torque control information and a first control signal based on the current slip information determined from the current wheel speed information and the current vehicle speed information. Further, the first controlled unit 130 that receives the first control signal and obtains the torque control information can perform corresponding operations, such as decelerating the vehicle, thereby ensuring the stable driving of the vehicle to a certain extent.

[0168] In some embodiments, the torque control information includes torque reduction information, the plurality of first controlled units 130 includes drive motors, the first vehicle information includes the currently generated torque of the drive motors, and the domain controller 110 is configured to:

[0169] In the case where the current slip information is that the vehicle slip ratio is higher than a preset value, determine the torque reduction information of the drive motor based on the currently generated torque and the current slip information to obtain the torque control information, wherein the drive motor is configured to reduce the currently generated torque according to the torque reduction information when obtaining the torque reduction information in the first control signal.

[0170] In the control method provided by the embodiment of the present application, the step of determining the torque control information according to the current slip information includes:

[0171] In the case where the current slip information is that the vehicle slip ratio is higher than a preset value, determine the torque reduction information of the drive motor based on the currently generated torque and the current slip information to obtain the torque control information, wherein the drive motor is configured to reduce the currently generated torque according to the torque reduction information when obtaining the torque reduction information in the first control signal.

[0172] The processor according to an embodiment of the present application is further configured to, in the case where the current slip information is that the vehicle slip ratio is higher than a preset value, determine the torque reduction information of the drive motor based on the currently generated torque and the current slip information to obtain the torque control information, wherein the drive motor is configured to reduce the currently generated torque according to the torque reduction information when obtaining the torque reduction information in the first control signal.

[0173] That is to say, in the process of determining the torque control information according to the vehicle slip ratio in the embodiment of the present application, the magnitude of the torque that the vehicle as a whole needs to reduce will also be determined based on the torque generated by the drive motor at the current moment, so as to obtain the torque reduction information, and the torque control information is determined according to the torque reduction information.

[0174] Exemplarily, when the current slip information previously determined by the domain controller 110 determines that the vehicle slip rate has exceeded a preset value (such as 20%), the domain controller 110 can determine the amount by which the driving motor needs to reduce or decrease the current generated torque based on the current generated torque of the driving motor detected by the information acquisition unit 120, that is, the torque reduction information. Finally, the domain controller 110 can determine the torque control information based on the torque reduction information, or determine the torque reduction information as the torque control information. Furthermore, after the first controlled unit 130 receives the first control signal, obtains the torque control information, and performs corresponding operations, that is, after the driving motor receives the first control signal, obtains the torque control information, and performs corresponding operations, the driving motor will reduce the current generated torque according to the torque reduction information to reversely drag the vehicle to run, so that the vehicle speed can be reduced.

[0175] In this way, the embodiment of the present application enables the domain controller 110 to determine the corresponding torque reduction information and torque control information based on the current generated torque of the driving motor when the vehicle slip rate is higher than the preset value. Furthermore, the domain controller 110 sends the first control signal to multiple first controlled units 130. When the driving motor receives the first control signal, the driving motor can obtain the torque reduction information according to the first control signal and reduce the current generated torque according to the torque reduction information, so that the vehicle speed can be reduced and the stable driving of the vehicle can be ensured.

[0176] In some embodiments, the first vehicle information includes the current vehicle steering information. The domain controller 110 is configured to determine the torque control information according to the vehicle steering angle, vehicle steering torque, and vehicle steering speed, where the vehicle steering angle, vehicle steering torque, and vehicle steering speed are determined according to the current vehicle steering information.

[0177] In the control method provided by the embodiment of the present application, step 01 includes:

[0178] Determine the torque control information according to the vehicle steering angle, vehicle steering torque, and vehicle steering speed, where the vehicle steering angle, vehicle steering torque, and vehicle steering speed are determined according to the current vehicle steering information.

[0179] The processor of the embodiment of the present application is further configured to determine the torque control information according to the vehicle steering angle, vehicle steering torque, and vehicle steering speed, where the vehicle steering angle, vehicle steering torque, and vehicle steering speed are determined according to the current vehicle steering information.

[0180] That is to say, the domain controller 110 of the embodiment of the present application is also responsible for data processing operations during the vehicle steering process. That is, when the first vehicle information collected by the information collection unit 120 includes the current vehicle steering information due to the user rotating the steering wheel, the domain controller 110 can also determine the corresponding vehicle steering angle, vehicle steering torque, and vehicle steering speed according to the current vehicle steering information, so as to know the user's steering intention. Then, according to the vehicle steering angle, vehicle steering torque, and vehicle steering speed, the corresponding torque control information is determined to complete the vehicle steering operation or assist the user to complete the vehicle steering operation.

[0181] It should be noted that the current vehicle steering information in the embodiment of the present application can be understood as the information collected by the torque angular velocity sensor.

[0182] It should also be noted that the vehicle steering angle can be understood as the angle at which the vehicle body turns left or right due to the user turning the steering wheel, the vehicle steering torque can be understood as the magnitude of the torque when the user or driver steers, and the vehicle steering speed can be understood as the vehicle speed during the vehicle steering process, including speed and acceleration.

[0183] In this way, the embodiment of the present application enables the domain controller 110 to determine the corresponding torque control information according to the vehicle steering angle, vehicle steering torque, and vehicle steering speed determined by the current vehicle steering information during the vehicle steering process, so that the first controlled unit 130 in the vehicle can complete the vehicle steering operation according to the torque control information, enabling the data processing during the vehicle steering process to be reliably or efficiently completed by the domain controller 110, and the vehicle steering to be carried out reliably.

[0184] In some embodiments, the torque control information includes torque adjustment information, the first vehicle information includes current wheel speed information, vehicle acceleration information, vehicle yaw angle information, and the current generated torque of the drive motor. The domain controller 110 is configured to determine the torque adjustment information to obtain the torque control information according to the vehicle steering angle, vehicle steering torque, vehicle steering speed, current slip information, current vehicle speed information, vehicle offset information, and current generated torque. Among them, the current slip information is determined according to the current wheel speed information, the vehicle offset information is determined according to the vehicle acceleration information and the vehicle yaw angle information, and the drive motor is configured to perform braking according to the torque adjustment information in the first control signal to make the forward direction of the vehicle match the vehicle steering angle.

[0185] In the control method provided by the embodiment of the present application, the step of determining the torque control information according to the vehicle steering angle, vehicle steering torque, and vehicle steering speed includes:

[0186] Determine torque adjustment information to obtain torque control information based on the vehicle steering angle, vehicle steering torque, vehicle steering speed, current slip information, current vehicle speed information, vehicle offset information, and currently generated torque, where the current slip information is determined based on the current wheel speed information, and the vehicle offset information is determined based on the vehicle acceleration information and the vehicle yaw angle information. The drive motor is configured to brake according to the torque adjustment information in the first control signal to match the forward direction of the vehicle with the vehicle steering angle.

[0187] The processor according to the embodiments of the present application is further configured to determine torque adjustment information to obtain torque control information based on the vehicle steering angle, vehicle steering torque, vehicle steering speed, current slip information, current vehicle speed information, vehicle offset information, and currently generated torque, where the current slip information is determined based on the current wheel speed information, and the vehicle offset information is determined based on the vehicle acceleration information and the vehicle yaw angle information. The drive motor is configured to brake according to the torque adjustment information in the first control signal to match the forward direction of the vehicle with the vehicle steering angle.

[0188] That is, in order to avoid or improve the trajectory deviation phenomenon during vehicle steering, in the embodiments of the present application, during vehicle steering, the current wheel speed information obtained by the wheel speed sensor, the vehicle acceleration information obtained by the acceleration sensor, and the vehicle yaw angle information detected by the yaw angle sensor are also collected, and the currently generated torque of the drive motor is collected.

[0189] After that, the current vehicle speed information is determined through the current wheel speed information, and the slip ratio is determined based on the current vehicle speed information and the current wheel speed information, that is, the current slip information.

[0190] At the same time, based on the vehicle acceleration information and the vehicle yaw angle information, the deviation between the actual steering direction of the vehicle and the steering wheel rotation direction is determined, that is, the vehicle offset information.

[0191] Then, according to the previously determined user steering intention, that is, the vehicle steering angle, vehicle steering torque, and vehicle steering speed, combined with the actual steering situation and driving situation of the vehicle, that is, the vehicle offset information and the current slip information, the corresponding torque adjustment information is determined.

[0192] Finally, torque control information is determined based on the torque adjustment information, or alternatively, the torque adjustment information is determined as the torque adjustment information, and then a corresponding first control signal is generated based on the torque control information. After the first control signal is received by the first controlled unit 130, the first controlled unit 130 performs corresponding operations according to the torque adjustment information in the first control signal. For example, when driving the motor, the output torque is adjusted according to the torque adjustment information, so that the forward direction of the vehicle matches or is consistent with the steering direction desired by the user, that is, the forward direction of the vehicle matches the aforementioned vehicle steering angle, thereby achieving lateral trajectory repair.

[0193] In some embodiments, after obtaining the torque adjustment information, the first controlled unit 130 may also perform a braking feedback operation.

[0194] Thus, the domain controller 110 according to the embodiments of the present application can also determine the actual movement of the vehicle during steering based on the current slip information, current vehicle speed information, vehicle offset information, and currently generated torque, and then combine the user's steering intention, that is, the vehicle steering angle, vehicle steering torque, and vehicle steering speed, to determine the torque adjustment information. Furthermore, after the first controlled unit 130, such as the drive motor, obtains the torque adjustment information according to the first control signal, it can perform corresponding operations according to the torque adjustment information, so that the actual movement of the vehicle matches the user's steering intention, that is, the forward direction of the vehicle matches the aforementioned vehicle steering angle, enabling the realization of lateral trajectory repair.

[0195] In some embodiments of the present application, specific reference may be made to Figure 6 , Figure 6 which is a schematic diagram of a vehicle in some embodiments of the present application. That is, the information acquisition unit 120 in the embodiments of the present application may include an accelerator pedal sensor, a brake pedal sensor, a wheel speed sensor, an acceleration sensor, a torque angle sensor, and a yaw angle sensor. At the same time, the first controlled unit may include a motor drive assembly for controlling the vehicle drive motor, a brake actuator for controlling brake-related components (such as a hydraulic brake unit), a steering actuator for controlling steering-related components, and a display inside the vehicle.

[0196] In some embodiments, the domain controller in the embodiments of the present application includes a data arbitration module, a centralized operation module, a centralized operation module, an energy management module, and a status detection and signal output module. Further, the domain controller 110 in the embodiments of the present application can preprocess the first vehicle information and the second vehicle information collected by the information acquisition unit 120 and the second controlled unit 140 respectively, such as signal amplification and filtering, to ensure the reasonable use of vehicle information in the subsequent process. At the same time, the domain controller 110 can also receive the vehicle network, such as receiving messages in CAN-FD, to determine the execution status of each controlled unit.

[0197] Furthermore, when the domain controller 110 receives multiple vehicle information simultaneously, such as the throttle pedal opening information and the brake pedal opening information at the same time, the domain controller 110 can, according to the data arbitration module, preferentially determine the corresponding torque control information and the first control signal based on the brake pedal opening information and the corresponding wheel speed information, etc., to ensure the preferred execution of vehicle braking. Optionally, in some embodiments, different processing priorities for vehicle information are set in the data arbitration module. Furthermore, the domain controller 110 can process the simultaneously received vehicle information in sequence according to the processing priorities set in the data arbitration module.

[0198] After determining the vehicle information to be processed through the data arbitration module, the domain controller 110 can perform functions such as determining the current operating mode, determining the current vehicle speed, calculating torque, determining the current steering information, and status monitoring according to the centralized operation module.

[0199] Among them, the determination of the current operating mode can be determined by inputting the gear message and / or the formula control message in the vehicle network, so as to know the current operating mode of the vehicle, such as the economy mode or the sport mode.

[0200] During the process of determining the current vehicle speed, the current vehicle speed and the slip ratio can be calculated according to the wheel speed collected by the wheel speed sensor. At the same time, the vehicle acceleration state, vehicle offset information, etc. can also be calculated according to the information transmitted by the information collection unit 120 such as the acceleration sensor and the yaw angle sensor.

[0201] During the process of torque calculation, the corresponding driving torque or braking torque can be calculated according to the throttle pedal opening or the brake pedal opening.

[0202] During the process of steering calculation, the torque magnitude, steering speed, steering acceleration, steering angle magnitude, etc. of the steering required by the driver can be calculated according to the information collected by the torque angular velocity sensor on the steering.

[0203] After the domain controller 110 completes the corresponding calculations through the centralized operation module, it can determine whether feedback torque is required to participate in vehicle control according to the calculation results. If so, the energy management module determines whether the vehicle battery needs to feedback energy at the current moment. That is, the energy management module determines whether the vehicle battery can perform energy feedback according to the current battery power, the previously calculated current vehicle speed, the previously detected driving state of the motor, the previously calculated driving torque or braking torque, and the preset decision algorithm. If so, the corresponding feedback torque value is output.

[0204] When the domain controller 110 determines the braking torque, driving torque, and regenerative torque through the centralized operation module and the energy management module, the state detection and signal output module can generate corresponding torque control information and a first control signal according to the determined torque, broadcast the first control signal in the vehicle network, and also send it to each first controlled unit 130 in the vehicle network. At the same time, the state detection and signal output module detects the operating state of each first controlled unit 130, or in other words, receives the operation feedback information of the first controlled unit 130, so as to know the operating state of the first controlled unit 130.

[0205] An embodiment of the present application further provides a control system for a vehicle, including the above-mentioned domain controller 110.

[0206] An embodiment of the present application further provides a vehicle, including a vehicle body. The vehicle body is equipped with the above-mentioned domain controller 110, or is equipped with the above-mentioned control system for the vehicle.

[0207] The present application also provides a computer-readable storage medium storing a computer program, which when executed by one or more processors, implements the above-mentioned vehicle control method.

[0208] In the description of this specification, the descriptions referring to terms such as "specifically", "further", "specially", "understandably", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms are not necessarily referring to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0209] Any process or method description shown in the flowchart or described in other ways herein can be understood as representing a module, segment, or part of code including one or more executable instructions for implementing a specific logical function or process, and the scope of the preferred embodiments of the present application includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in a reverse order according to the involved functions, rather than in the order shown or discussed, which should be understood by those skilled in the art of the embodiments of the present application.

[0210] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A domain controller for a vehicle, characterized in that, The domain controller is connected to the information acquisition unit of the vehicle, and the domain controller is connected to a plurality of first controlled units of the vehicle; The domain controller is configured to determine a first control signal according to the first vehicle information collected by the information acquisition unit, and send the first control signal to the plurality of first controlled units, wherein the first control signal instructs the plurality of first controlled units to perform corresponding operations.

2. The domain controller according to claim 1, wherein The domain controller is connected to a plurality of second controlled units of the vehicle; The domain controller is configured to determine a second control signal according to the second vehicle information collected by the plurality of second controlled units, and send the second control signal to the plurality of second controlled units, wherein the second control signal instructs the plurality of second controlled units to perform corresponding operations.

3. The domain controller according to claim 1, characterized in that The first control signal includes torque control information.

4. The domain controller according to claim 3, wherein The first vehicle information includes current accelerator pedal opening information, current operation mode information, current vehicle speed information, and current vehicle gear information. The domain controller is configured to determine the torque control information according to the current accelerator pedal opening information, the current operation mode information, the current vehicle speed information, and the current vehicle gear information, so as to obtain the first control signal.

5. The domain controller according to claim 4, wherein The domain controller is configured to determine the torque control information according to the current accelerator pedal opening information, the current vehicle speed information, the current vehicle gear information, and a target mapping relationship, wherein the target torque mapping information is determined according to the current operation mode information and the torque mapping information corresponding to each pre-determined operation mode, and the torque mapping information includes torque, and the accelerator pedal, vehicle speed, and vehicle gear torque corresponding to the torque.

6. The domain controller according to any one of claims 3-5, characterized in that, The first vehicle information includes current brake pedal opening information. The domain controller is configured to determine the torque control information according to a target braking torque, wherein the target braking torque is determined according to the current brake pedal opening information.

7. The domain controller according to claim 6, wherein The first vehicle information includes current battery state information and current drive motor state information. The domain controller is configured to: Determine the torque control information according to the target braking torque and the current maximum braking torque, wherein the current maximum braking torque is determined according to the current battery state information and the current drive motor state information.

8. The domain controller according to claim 7, wherein The first vehicle information includes current vehicle speed information. The domain controller is configured to: Determine the torque control information according to the target braking torque, the current maximum braking torque, and the feedback torque, wherein the feedback torque is determined according to the current battery state information, the current drive motor state information, and the current vehicle speed information.

9. The domain controller according to any one of claims 3-8, characterized in that, The first vehicle information includes current wheel speed information. The domain controller is configured to determine the torque control information according to current slip information, wherein the current slip information is determined according to the current wheel speed information and the vehicle speed information corresponding to the current wheel speed information.

10. The domain controller according to claim 9, wherein The torque control information includes torque reduction information. The multiple first controlled units include a drive motor. The first vehicle information includes the currently generated torque of the drive motor. The domain controller is configured to, when the current slip information indicates that the vehicle slip rate is higher than a preset value, determine the torque reduction information of the drive motor based on the currently generated torque and the current slip information to obtain the torque control information. Wherein, the drive motor is configured to reduce the currently generated torque according to the torque reduction information when the torque reduction information in the first control signal is obtained.

11. The domain controller according to any one of claims 3-8, characterized in that, The first vehicle information includes current vehicle steering information. The domain controller is configured to determine the torque control information based on the vehicle steering angle, vehicle steering torque, and vehicle steering speed. Wherein, the vehicle steering angle, vehicle steering torque, and vehicle steering speed are determined based on the current vehicle steering information.

12. The domain controller according to claim 11, characterized in that, The torque control information includes torque adjustment information. The first vehicle information includes current wheel speed information, vehicle acceleration information, vehicle yaw angle information, and the currently generated torque of the drive motor. The domain controller is configured to determine the torque adjustment information based on the vehicle steering angle, vehicle steering torque, vehicle steering speed, current slip information, current vehicle speed information, vehicle offset information, and the currently generated torque to obtain the torque control information. Wherein, the current slip information is determined based on the current wheel speed information, and the vehicle offset information is determined based on the vehicle acceleration information and vehicle yaw angle information. The drive motor is configured to perform braking according to the torque adjustment information to make the forward direction of the vehicle match the vehicle steering angle when the torque adjustment information in the first control signal is obtained.

13. A control method for a vehicle, characterized in that, The vehicle is equipped with the domain controller according to any one of claims 1-12. The method includes: Determining a first control signal based on the first vehicle information collected by the information collection unit; Sending the first control signal to the multiple first controlled units, wherein the first control signal instructs the multiple first controlled units to perform corresponding operations.

14. The method according to claim 13, wherein The domain controller is connected to multiple second controlled units of the vehicle. The method further includes: Determining a second control signal based on the second vehicle information collected by the multiple second controlled units; Sending the second control signal to the multiple second controlled units, wherein the second control signal instructs the multiple second controlled units to perform corresponding operations.

15. The method according to claim 13 or 14, characterized in that The first control signal includes torque control information.

16. The method according to claim 15, wherein The first vehicle information includes current throttle pedal opening information, current operation mode information, current vehicle speed information, and current vehicle gear information. Determining the first control signal based on the first vehicle information collected by the information collection unit includes: Determining the torque control information based on the current throttle pedal opening information, current operation mode information, current vehicle speed information, and current vehicle gear information.

17. The method according to claim 16, wherein Determining the torque control information according to the current accelerator pedal opening information, the current operation mode information, the current vehicle speed information, and the current vehicle gear information includes: Determining the torque control information according to the current accelerator pedal opening information, the current vehicle speed information, the current vehicle gear information, and a target mapping relationship, where the target torque mapping information is determined according to the current operation mode information and the torque mapping information corresponding to each pre-determined operation mode, and the torque mapping information includes torque, and the accelerator pedal, vehicle speed, and vehicle gear torque corresponding to the torque.

18. The method according to any one of claims 15-17, characterized in that, The first vehicle information includes current brake pedal opening information, and the method further includes: Determining the torque control information according to a target braking torque, where the target braking torque is based on the current brake pedal opening information.

19. The method according to claim 18, wherein The first vehicle information includes current battery state information and current drive motor state information. Determining the torque control information according to the target braking torque includes: Determining the torque control information according to the target braking torque and the current maximum braking torque, where the current maximum braking torque is determined according to the current battery state information and the current drive motor state information.

20. The method according to claim 19, wherein The first vehicle information includes current vehicle speed information. Determining the torque control information according to the target braking torque and the current maximum braking torque includes: Determining the torque control information according to the target braking torque, the current maximum braking torque, and a feedback torque, where the feedback torque is determined according to the current battery state information, the current drive motor state information, and the current vehicle speed information.

21. The method according to any one of claims 15 - 20, characterized in that, The first vehicle information includes current wheel speed information, and the method further includes: Determining the torque control information according to current slip information, where the current slip information is determined according to the current wheel speed information and the vehicle speed information corresponding to the current wheel speed information.

22. The method according to claim 21, wherein The torque control information includes torque reduction information, the multiple first controlled units include a drive motor, and the first vehicle information includes the currently generated torque of the drive motor. Determining the torque control information according to the current slip information includes: When the current slip information is that the vehicle slip rate is higher than a preset value, determining torque reduction information for the drive motor according to the currently generated torque and the current slip information to obtain the torque control information, where the drive motor is configured to reduce the currently generated torque according to the torque reduction information when obtaining the torque reduction information in the first control signal.

23. The method according to any one of claims 15 - 17, characterized in that, The first vehicle information includes current vehicle steering information, and the method further includes: Determining the torque control information according to the vehicle steering angle, the vehicle steering torque, and the vehicle steering speed, where the vehicle steering angle, the vehicle steering torque, and the vehicle steering speed are determined according to the current vehicle steering information.

24. The method according to claim 23, wherein The torque control information includes torque adjustment information, and the first vehicle information includes current wheel speed information, vehicle acceleration information, vehicle yaw angle information, and the currently generated torque of the drive motor. Determining the torque control information according to the vehicle steering angle, vehicle steering torque, and vehicle steering speed includes: Determining the torque adjustment information to obtain torque control information according to the vehicle steering angle, the vehicle steering torque, the vehicle steering speed, current slip information, current vehicle speed information, vehicle offset information, and the currently generated torque, where the current slip information is determined according to the current wheel speed information, the vehicle offset information is determined according to the vehicle acceleration information and vehicle yaw angle information, and the drive motor is configured to perform braking according to the torque adjustment information in the first control signal to match the forward direction of the vehicle with the vehicle steering angle.

25. A control system for a vehicle, characterized in that, Comprising the domain controller according to any one of claims 1-12.

26. A vehicle, characterized in that, Comprising a vehicle body; The vehicle body is equipped with the domain controller according to any one of claims 1-12, or is equipped with the vehicle control system according to claim 25.

27. A vehicle, characterized in that, Comprising a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the method according to any one of claims 13-24 is implemented.

28. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed by one or more processors, the method according to any one of claims 13-24 is implemented.

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