Vehicle control device, control system and vehicle

Abstract

The invention relates to the technical field of vehicles, and discloses a control device and system of a vehicle and the vehicle. The control device comprises an electric power steering control unit and a lane keeping auxiliary control unit; the lane keeping auxiliary control unit is used for sending a steering request to the electric power steering control unit through internuclear communication; and the electric power steering control unit is used for sending a control signal to a steering motor of the vehicle according to the steering request so as to control the steering motor to steer. The electric power steering control unit and the lane keeping auxiliary control unit are integrated in the control device of the vehicle in an intra-domain mode, so that the two control units can perform data transmission in an inter-core communication mode, the problem that the lane keeping auxiliary function cannot be intervened in time due to the fact that the network state of a gateway is unstable is solved, and the control efficiency of the vehicle is improved. And the vehicle driving safety is improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and particularly to a control device, a control system and a vehicle for a vehicle. Background Art

[0002] LKAS (Lane Keeping Assistance System) is allowed to be activated under specific circumstances. After activation, when the system determines that there is an unintended lane departure, the LKAS system will control the EPS (Electric Power Steering) to apply a limited steering force to correct the vehicle back to the original lane or keep it at the center line of the lane. Currently, the LKA steering request signal is sent by the ADAS (Advanced Driver Assistance Systems), and after being forwarded by the gateway, it is sent to the EPS system. The EPS system receives and executes the relevant steering request. However, the network status of the gateway may be in an unstable state, so that the lane keeping assistance cannot intervene in time, that is, the vehicle cannot be corrected back to the original lane in time, resulting in unsafe vehicle driving. Summary of the Invention

[0003] Embodiments of the present application provide a control device, a control system and a vehicle for a vehicle, aiming to integrate multiple control units in the control device and perform data transmission through inter-core communication, avoiding the problem that the lane keeping assistance function cannot intervene in time due to unstable network status, and improving the driving safety of the vehicle.

[0004] In a first aspect, an embodiment of the present application provides a control device for a vehicle, where the control device includes an electric power steering control unit and a lane keeping assistance control unit;

[0005] The lane keeping assistance control unit is configured to send a steering request to the electric power steering control unit through inter-core communication;

[0006] The electric power steering control unit is configured to send a control signal to a steering motor of the vehicle according to the steering request to control the steering motor to steer.

[0007] According to the control device provided by the present application, the control device includes a first chip and a second chip, the lane keeping assistance control unit is deployed on the first chip, the electric power steering control unit is deployed on the second chip, and data is transmitted between the first chip and the second chip through the inter-core communication method.

[0008] According to the control device provided by the present application, the first chip is an SOC, and / or the second chip is an MCU.

[0009] According to the control device provided by the present application, the lane keeping assist control unit is further configured to receive image information data, and calculate a steering torque based on the image information data, and the steering request includes the steering torque.

[0010] According to the control device provided by the present application, the control signal is obtained based on the steering request and the driving information of the vehicle, and the driving information includes at least one of vehicle speed, gear position, and motor status signal of the steering motor.

[0011] According to the control device provided by the present application, the motor status signal is sent by the steering motor, and the motor status signal includes at least one of the current rotation angle and the current torque of the steering motor.

[0012] According to the control device provided by the present application, the control device includes an optical communication interface, and the control device sends and / or receives signals through the optical communication interface.

[0013] According to the control device provided by the present application, the control device is the central controller of the vehicle.

[0014] In a second aspect, an embodiment of the present application provides a control system for a vehicle, which is applied to the control device as described in the first aspect. The control system further includes a steering motor, and the steering motor is connected to the electric power steering control unit, and the steering motor is configured to execute the control signal.

[0015] According to the control system provided by the present application, the control signal is an optical signal, and the control system further includes a first optoelectronic conversion module, configured to convert the control signal into an electrical signal and send it to the steering motor.

[0016] According to the control system provided by the present application, the control system further includes an image sensor and a second optoelectronic conversion module. The second optoelectronic conversion module is configured to convert the image signal output by the image sensor into an optical signal and send it to the control device, so that the lane keeping assist control unit in the control device calculates a steering torque based on the image signal, and the image signal includes the image information data collected by the image sensor.

[0017] According to the control system provided by the present application, the control system further includes a backup control device.

[0018] When the electric power steering control unit in the control device fails, the electric power steering control unit in the backup control device sends a control signal to the steering motor according to the steering request; and / or

[0019] When the lane keeping assist control unit in the control device fails, the lane keeping assist control unit in the standby control device sends the steering request to the control device, so that the electric power steering control unit in the control device sends a control signal to the steering motor according to the steering request.

[0020] According to the control system provided by the present application, the standby control device is the domain controller of the vehicle.

[0021] In a third aspect, an embodiment of the present application provides a vehicle, including the control device described in the first aspect, and / or the control system described in the second aspect.

[0022] The control device provided by the embodiment of the present application integrates the electric power steering control unit and the lane keeping assist control unit in the control device of the vehicle in a domain-internal manner. Therefore, the two control units can transmit data through inter-core communication, avoiding the problem that the lane keeping assist function cannot be intervened in time due to the unstable network state of the gateway, and improving the driving safety of the vehicle. Description of the Drawings

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

[0024] Figure 1 It is a schematic structural diagram of a control device of a vehicle provided in an embodiment of the present application;

[0025] Figure 2 It is a schematic structural diagram of a control system of a vehicle provided in an embodiment of the present application;

[0026] Figure 3 It is a schematic flowchart of a vehicle control method provided in an embodiment of the present application;

[0027] Figure 4 It is a schematic structural diagram of an electronic device provided in an embodiment of the present application. Detailed Embodiments

[0028] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative efforts belong to the scope of protection of the present application. At the same time, in the description of the embodiments of the present application, terms such as "first" and "second" are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more features. In the description of the embodiments of the present application, the meaning of "a plurality of" is two or more unless otherwise specifically defined.

[0029] It should be noted that the following description order of the embodiments does not limit the preferred order of the embodiments. Although the logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order from that shown in the accompanying drawings.

[0030] The LKAS system allows activation in a specific environment. After activation, when the system determines that there is an unintended lane departure, the LKAS system will control the EPS system to apply a limited steering force to correct the vehicle back to the original lane or keep it at the center line of the lane. Currently, the LKA steering request signal is sent by the ADAS system, forwarded through the gateway, and then sent to the EPS system. The EPS system receives and executes the relevant steering request. However, the network status of the gateway may be unstable, resulting in the lane keeping assistance not being able to intervene in a timely manner, that is, the vehicle cannot be corrected back to the original lane in a timely manner, leading to unsafe vehicle driving.

[0031] To solve the above problems, the inventors of the present application proposed a control device for a vehicle with a central domain integration, that is, the electric power steering control unit and the lane keeping assistance control unit are integrated in the vehicle control device in a domain-internal manner. Therefore, the two control units can transmit data through inter-core communication, avoiding the problem that the lane keeping assistance function cannot intervene in a timely manner due to the unstable network status of the gateway, and improving the driving safety of the vehicle.

[0032] Glossary

[0033] ADAS (Advanced Driver Assistance System) is a system integrated with multiple functions, which are a series of electronic technologies and sensors designed to enhance driving safety, convenience, and comfort. The ADAS system can monitor the status of the vehicle and its surrounding environment in real time by using various sensors, cameras, radars, and computer vision technologies, provide key information and warnings to the driver, and even automatically perform certain driving operations.

[0034] The ADAS system at least integrates an adaptive cruise control system (ACC), an automatic emergency braking system (AEB), a lane keeping assist system (LKAS), a blind spot monitoring system (BSM), a traffic sign recognition system (TSR), an automatic parking assist system (APA), a fatigue driving reminder system, etc.

[0035] Refer to Figure 1 , Figure 1 FIG. is a schematic structural diagram of a vehicle control device provided by an embodiment of the present application. In the vehicle control device in the embodiment of the present application, at least two control units (systems) are integrated, such as an EPS control unit, an ADAS control unit, etc. In this embodiment, taking the integration of an EPS control unit and an ADAS control unit in the control device, and the integration of an LKAS control unit in the ADAS control unit as an example. Therefore, it can be understood that the control device includes an EPS control unit and an LKAS control unit.

[0036] In this embodiment, the EPS control unit and the ADAS control unit perform data transmission through inter-core communication. Therefore, it can be understood that the EPS control unit and the LKAS control unit perform data transmission through inter-core communication.

[0037] After the driving user triggers the LKA assist function, the LKAS control unit sends a steering request to the electric power steering control unit through inter-core communication. Among them, inter-core communication is a process and mechanism for data transmission and communication between different processing cores. The processing cores include, for example, a graphics processing unit (GPU), a central processing unit (CPU), a system-on-chip (SoC), a microcontroller (MCU), and so on.

[0038] It should be noted that the EPS control unit needs to monitor whether the handshake between the LKAS control unit and the ADAS control unit is successful, that is, whether the communication connection status between the LKAS control unit and the ADAS control unit is in a connected state. If it is determined that the communication connection status between the LKAS control unit and the ADAS control unit is in a connected state, that is, the handshake between the LKAS control unit and the ADAS control unit is successful, the communication between the EPS control unit and the ADAS control unit is the communication between the EPS control unit and the LKAS control unit.

[0039] After the EPS control unit receives a steering request, it generates a control signal according to the steering request and sends the control signal to the steering motor of the vehicle. After receiving the control signal, the steering motor steers according to the control signal.

[0040] In the embodiment of the present application, the electric power steering control unit and the lane keeping assist control unit are integrated in the vehicle control device in a domain-internal manner. Therefore, the two control units can transmit data through inter-core communication, avoiding the problem that the lane keeping assist function cannot be intervened in time due to the unstable network state of the gateway, and improving the driving safety of the vehicle.

[0041] In this embodiment, the control device includes a first chip and a second chip. The LKAS control unit is deployed on the first chip, and the EPS control unit is deployed on the second chip. Data is transmitted between the first chip and the second chip through inter-core communication.

[0042] In this embodiment, the first chip is an SOC, and / or the second chip is an MCU. Therefore, it can be understood that the LKAS control unit is deployed in the SOC, the EPS control unit is deployed in the MCU, and data is transmitted between the SOC and the MCU through inter-core communication.

[0043] In this embodiment, after the LKA assist function is started, the MPC (Multi-Purpose Camera) camera and the radar obtain image information data of the road and transmit the obtained image information data to the control device. In this embodiment, it can be understood that the MPC camera and the radar transmit the obtained image information data to the LKAS control unit.

[0044] After the LKAS control unit receives the image information data, it generates a steering torque based on the image information data. In this embodiment, the steering request includes the steering torque. Therefore, it can be understood that the steering request is generated based on the image information data. Specifically, the LKAS control unit analyzes the image information data through an image processing algorithm to obtain the position and shape of the road markings and the current position information of the vehicle. Further, the LKAS control unit analyzes the position and shape of the road markings through computer vision technology to obtain road markings, including solid lines, dotted lines, etc. Further, the LKAS control unit determines the lane in which the vehicle is currently located based on the current position information of the vehicle, including detecting whether the vehicle deviates from the center line of the lane. Further, the LKAS control unit calculates the deviation amount of the vehicle relative to the center line of the lane, such as by identifying the position relationship between the vehicle in the image and the position of the lane markings. Further, the LKAS control unit analyzes the deviation amount and the change trend of the vehicle to obtain the vehicle deviation intention information of the driving user, such as whether the intention is to change lanes or just temporarily deviate. Further, the LKAS control unit obtains the correction path of the vehicle based on the detected deviation amount and the vehicle deviation intention information. Further, the LKAS control unit calculates the required steering angle based on the deviation amount. Further, the LKAS control unit generates a steering request based on the correction path and the steering angle. Further, the LKAS control unit issues a steering request to the EPS control unit through inter-core communication, that is, transmits the steering request to the EPS control unit through inter-core communication.

[0045] After the EPS control unit receives the steering request from the LKAS control unit, it obtains the driving information of the vehicle and obtains a control signal based on the steering request and the driving information. Among them, the driving information includes at least one of the vehicle speed, gear position, and motor state signal of the steering motor. The motor state signal includes at least one of the current steering angle and the current torque of the steering motor. Therefore, the process of obtaining the control signal is specifically as follows: The EPS control unit receives the vehicle speed, gear position, and motor state signal. Further, the EPS control unit respectively obtains the adjustment coefficients corresponding to the correction path, steering angle, vehicle speed, gear position, current steering angle, and current torque, and multiplies the correction path, steering angle, vehicle speed, gear position, current steering angle, and current torque and their corresponding adjustment coefficients to obtain the final adjustment coefficient. Further, the EPS control unit multiplies the final adjustment coefficient by the preset motor assistance value to obtain a control signal.

[0046] In this embodiment, the control device is the central controller of the vehicle. The control device includes an optical communication interface, and the control device sends and / or receives signals through the optical communication interface.

[0047] Refer to Figure 2 , Figure 2It is a schematic structural diagram of a vehicle control system provided in an embodiment of the present application. The vehicle control system in this embodiment includes a control device and a steering motor. Among them, the steering motor is connected to the EPS control unit, and the steering motor is used to execute control signals.

[0048] Therefore, the EPS control unit sends the control signal to the steering motor. In this embodiment, the control signal is an optical signal, and the control system includes a first optoelectronic conversion module. The optoelectronic conversion module can convert the control signal into an electrical signal and send it to the steering motor. For example, the EPS control unit converts the control signal into a PWM wave through the first optoelectronic conversion module and sends the PWM wave to the steering motor.

[0049] The steering motor steers through the control signal to complete the steering control of the vehicle. In this embodiment, the EPS control unit and the steering motor are connected by optical communication and CAN communication (CANFD communication mode). In this communication mode, the interaction period between the EPS control unit and the steering motor is much faster than the CAN communication mode.

[0050] In this embodiment, the control system further includes an image sensor and a second optoelectronic conversion module. The input end of the second optoelectronic conversion module is connected to the output end of the image sensor. The image sensor can collect images of the road, and the second optoelectronic conversion module can convert the image signal output by the image sensor into an optical signal and send it to the control device. Among them, the image signal includes the image information data collected by the image sensor. After the LKAS control unit in the control device receives the image information data, it calculates the steering torque according to the image signal. The specific process is as described in the above embodiment and will not be repeated here.

[0051] It should be noted that the current EPS control unit does not have a redundancy function. When the EPS control unit has problems, the LKA function cannot be used normally, which affects the use of the driving user. The embodiment of the present application uses a sub-core processing method for backup for redundancy. Therefore, in this embodiment, the control system further includes a backup control device. The backup control device is the domain controller of the vehicle, and the backup control device includes a backup EPS control unit and a backup LKAS control unit. Specifically:

[0052] When the EPS control unit in the control device fails, the EPS control unit in the backup control device sends a control signal to the steering motor according to the steering request; and / or

[0053] When the LKAS control unit in the control device fails, the LKAS control unit in the backup control device sends a steering request to the control device, and the EPS control unit in the control device sends a control signal to the steering motor according to the steering request.

[0054] After the EPS control unit and the LKAS control unit in the control device of the vehicle fail in the embodiment of the present application, the EPS control unit and the LKAS control unit in the backup control device can control the steering motor, realizing the redundancy of the control unit and improving the driving safety of the vehicle.

[0055] After the steering motor executes steering according to the control signal, the motor state signal, the corner information, and the torque information after steering are returned to the EPS control unit. Therefore, after receiving the motor state signal, the corner information, and the torque information transmitted by the steering motor, the EPS control unit sends them to the LKAS control unit through inter-core communication. After receiving the motor state signal, the corner information, and the torque information, the LKAS control unit adjusts the vehicle according to the motor state signal, the corner information, and the torque information, in combination with the image information data, such as adjusting the steering wheel of the vehicle to keep the vehicle at the correct lane center or perform appropriate steering actions according to the intention of the driving user.

[0056] It should be noted that the control device sends a steering request to the EPS control unit, and needs to perform a handshake in accordance with the agreed order, and at the same time sends its own motor state signal to the EPS control unit. The EPS control unit feeds back its own motor state signal to the control device, such as the function state and the reason for exiting, etc.

[0057] The interaction mode between the steering motor and the control device is as follows: the torque and angle sensor is attached to the steering motor. The MCU chip in the steering motor sends the torque, angle signals collected by the torque and angle sensor and signals such as voltage, current, and temperature inside the motor through CAN, and then the CAN signal is converted into an optical signal by the optoelectronic conversion module of the whole vehicle and finally sent to the control device. The signal sent by the control device is an optical signal, and after passing through the optoelectronic conversion module, a CAN signal is sent to the steering motor.

[0058] Refer to Figure 3 , Figure 3 is a schematic flowchart of the vehicle control method provided by the embodiment of the present application. The vehicle control method of the embodiment of the present application is applied to the control system of the vehicle. The control system includes a control device and a steering motor connected to the control device. At least two control units are integrated in the control device, such as an EPS control unit, an ADAS control unit, etc. In this embodiment, an EPS control unit and an ADAS control unit are integrated in the control device, and an LKAS control unit is integrated in the ADAS control unit. Therefore, this embodiment can be understood as that the control device includes an EPS control unit and an LKAS control unit.

[0059] The vehicle control method provided by the embodiment of the present application specifically includes steps 10 to 40:

[0060] Step 10, the lane keeping assist control unit receives image information data;

[0061] Step 20, based on the lane keeping assist control unit, according to the image information data, sends a steering request to the electric power steering control unit through inter-core communication;

[0062] Step 30, based on the electric power steering control unit, obtains a control signal according to the steering request;

[0063] Step 40, based on the electric power steering control unit, sends the control signal to the steering motor to control the steering motor to steer.

[0064] After the LKA assist function is started, the MPC camera and radar obtain image information data and transmit the obtained image information data to the control device. In this embodiment, it can be understood that the MPC camera and radar transmit the obtained image information data to the LKAS control unit.

[0065] After the LKAS control unit receives the image information data, it generates a steering torque according to the image information data. In this embodiment, the steering request includes a steering torque.

[0066] Therefore, it can be understood that a steering request is generated according to the image information data. Specifically: the LKAS control unit analyzes the image information data through an image processing algorithm to obtain the position, shape of the road markings and the current position information of the vehicle. Further, the LKAS control unit analyzes the position and shape of the road markings through computer vision technology to obtain road markings, including solid lines, dashed lines, etc. Further, the LKAS control unit determines the lane where the vehicle is currently located according to the current position information of the vehicle, including detecting whether the vehicle deviates from the center line of the lane. Further, the LKAS control unit calculates the deviation amount of the vehicle relative to the center line of the lane, such as by identifying the position relationship between the vehicle in the image and the position of the lane markings. Further, the LKAS control unit analyzes the deviation amount and change trend of the vehicle to obtain the vehicle deviation intention information of the driving user, such as whether the intention is to change lanes or just temporarily deviate. Further, the LKAS control unit obtains the correction path of the vehicle according to the detected deviation amount and vehicle deviation intention information. Further, the LKAS control unit calculates the steering angle required according to the deviation amount. Further, the LKAS control unit generates a steering request according to the correction path and the steering angle. Further, the LKAS control unit sends a steering request to the EPS control unit through inter-core communication, that is, transmits the steering request to the EPS control unit through inter-core communication.

[0067] It should be noted that the EPS control unit needs to monitor whether the handshake between the LKAS control unit and the ADAS control unit is successful, that is, whether the communication connection status between the LKAS control unit and the ADAS control unit is in a connected state. If it is determined that the communication connection status between the LKAS control unit and the ADAS control unit is in a connected state, that is, the handshake between the LKAS control unit and the ADAS control unit is successful, the communication between the EPS control unit and the ADAS control unit is the same as the communication between the EPS control unit and the LKAS control unit.

[0068] In this embodiment, the EPS control unit and the ADAS control unit perform data transmission through inter-core communication. Therefore, it can be understood that the EPS control unit and the LKAS control unit perform data transmission through inter-core communication. Therefore, after the driving user triggers the LKA assistance function, the LKAS control unit sends a steering request to the electric power steering control unit through inter-core communication. Among them, inter-core communication is a process and mechanism for data transmission and communication between different processing cores. The processing cores include, for example, a Graphics Processing Unit (GPU), a Central Processing Unit (CPU), a System-on-Chip (SoC), a Microcontroller (MCU), and so on.

[0069] In this embodiment, the LKAS control unit is deployed in the SoC, and the EPS control unit is deployed in the MCU. The SoC and the MCU perform data transmission through inter-core communication.

[0070] After the EPS control unit receives the steering request from the LKAS control unit, it obtains the driving information of the vehicle and obtains a control signal according to the steering request and the driving information. Among them, the driving information includes at least one of the vehicle speed, gear position, and motor state signal of the steering motor. The motor state signal includes at least one of the current steering angle and the current torque of the steering motor. Therefore, the process of obtaining the control signal is specifically as follows: The EPS control unit receives the vehicle speed, gear position, and motor state signal. Further, the EPS control unit respectively obtains the adjustment coefficients corresponding to the correction path, steering angle, vehicle speed, gear position, current steering angle, and current torque, and multiplies the correction path, steering angle, vehicle speed, gear position, current steering angle, and current torque and their corresponding adjustment coefficients to obtain the final adjustment coefficient. Further, the EPS control unit multiplies the final adjustment coefficient by the preset motor assistance value to obtain a control signal.

[0071] The EPS control unit sends a control signal to the steering motor. In this embodiment, the control signal is an optical signal, and the control system includes a first optoelectronic conversion module, which can convert the control signal into an electrical signal and send it to the steering motor. For example, the EPS control unit converts the control signal into a PWM wave through the first optoelectronic conversion module and sends the PWM wave to the steering motor.

[0072] The steering motor steers through the control signal to complete the steering control of the vehicle. In this embodiment, the EPS control unit and the steering motor are connected by optical communication and CAN communication (CANFD communication mode). In this communication mode, the interaction period between the EPS control unit and the steering motor is much faster than that of the CAN communication mode.

[0073] In the embodiment of the present application, the electric power steering control unit and the lane keeping assist control unit are integrated in the vehicle control device in a domain-internal manner. Therefore, the electric power steering control unit and the lane keeping assist control unit can transmit data through inter-core communication, avoiding the problem that the lane keeping assist function cannot be intervened in time due to the unstable network state of the gateway, and improving the driving safety of the vehicle.

[0074] Refer to Figure 4 , Figure 4 is a schematic structural diagram of an electronic device provided in an embodiment of the present application. The vehicle may include: a processor 410, a communication interface 420, a memory 430, and a communication bus 440. Among them, the processor 410, the communication interface 420, and the memory 430 complete mutual communication through the communication bus 440. The processor 410 can call a computer program in the memory 430 to execute the steps of the control unit of the vehicle, including:

[0075] Receiving image information data based on the lane keeping assist control unit; sending a steering request to the electric power steering control unit through inter-core communication based on the lane keeping assist control unit according to the image information data; obtaining a control signal based on the electric power steering control unit according to the steering request; based on the electric power steering control unit sending the control signal to the steering motor to control the steering motor to steer. Therefore, the electric power steering control unit and the lane keeping assist control unit are integrated in the control device in a domain-internal manner, and the two control units can transmit data through inter-core communication, avoiding the problem that the lane keeping assist function cannot be intervened in time due to the unstable network state of the gateway, and improving the driving safety of the vehicle.

[0076] In addition, when the logic computer program in the above-mentioned memory 430 is implemented in the form of software functional units and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several computer programs for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0077] The system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative labor.

[0078] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such understanding, the technical solution, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disks, optical discs, etc., and includes several computer programs for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims

1. A control device for a vehicle, characterized in that, The control device includes an electric power steering control unit and a lane keeping assist control unit; The lane keeping assist control unit is configured to send a steering request to the electric power steering control unit through inter-core communication; The electric power steering control unit is configured to send a control signal to a steering motor of the vehicle according to the steering request to control the steering motor to steer.

2. The control device according to claim 1, characterized in that The control device includes a first chip and a second chip. The lane keeping assist control unit is deployed on the first chip, and the electric power steering control unit is deployed on the second chip. Data is transmitted between the first chip and the second chip through the inter-core communication.

3. The control device according to claim 2, characterized in that, The first chip is an SOC, and / or the second chip is an MCU.

4. The control device according to any one of claims 1 to 3, characterized in that, The lane keeping assist control unit is further configured to receive image information data and calculate a steering torque according to the image information data. The steering request includes the steering torque.

5. The control device according to any one of claims 1 to 4, characterized in that, The control signal is obtained according to the steering request and the driving information of the vehicle. The driving information includes at least one of vehicle speed, gear position, and a motor state signal of the steering motor.

6. The control device according to claim 5, characterized in that The motor state signal is sent by the steering motor. The motor state signal includes at least one of the current rotation angle and the current torque of the steering motor.

7. The control device according to any one of claims 1-6, characterized in that, The control device includes an optical communication interface. The control device sends and / or receives signals through the optical communication interface.

8. The control device according to any one of claims 1-7, characterized in that, The control device is a central controller of the vehicle.

9. A control system for a vehicle, characterized in that, Including the control device according to any one of claims 1-8, the control system further includes a steering motor. The steering motor is connected to the electric power steering control unit, and the steering motor is configured to execute the control signal.

10. The control system according to claim 9, characterized in that, The control signal is an optical signal. The control system further includes a first optoelectronic conversion module configured to convert the control signal into an electrical signal and send it to the steering motor.

11. The control system according to claim 9, characterized in that, The control system further includes an image sensor and a second optoelectronic conversion module. The second optoelectronic conversion module is configured to convert an image signal output by the image sensor into an optical signal and send it to the control device, so that the lane keeping assist control unit in the control device calculates a steering torque according to the image signal. The image signal includes image information data collected by the image sensor.

12. The control system according to claim 9, characterized in that, The control system further includes a backup control device. When the electric power steering control unit in the control device fails, the electric power steering control unit in the backup control device sends a control signal to the steering motor according to the steering request; and / or When the lane keeping assist control unit in the control device fails, the lane keeping assist control unit in the backup control device sends the steering request to the control device, so that the electric power steering control unit in the control device sends a control signal to the steering motor according to the steering request.

13. The control system according to claim 12, wherein The backup control device is a domain controller of the vehicle.

14. A vehicle, characterized in that, Including the control device according to any one of claims 1-8, or including the control system according to any one of claims 9-13.

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