Control method and device and carrying tool

Abstract

The invention discloses a control method and device and a carrying tool. The control method comprises the steps that first signaling is received, the first signaling is used for indicating a request for the carrier to enter a first working mode, and the first working mode is used for safety protection of the carrier in a non-use state; performing first memory configuration based on the first signaling, including: backing up data of a second memory space, and controlling a second storage controller of the second memory space to keep an on state; controlling the first memory space to enter a self-refreshing state, and controlling a first storage controller of the first memory space to be closed; using the second memory space as a system memory to control a first system of the first working mode to operate; and controlling the second system in the second working mode to enter a dormant state. According to the control method, the memory resources are allocated in the sentry mode switching process, so that the memory space for operating a sentry mode system is reduced, and the power consumption demand in a sentry mode operating state is reduced.

Description

Technical Field

[0001] The present application relates to the field of intelligent vehicle technology, and in particular to a control method and device, as well as a vehicle. Background Art

[0002] Traditional vehicle safety focuses primarily on active and passive safety while driving, with relatively little protection for non-driving vehicles. However, potential safety risks still exist when a vehicle is not driving, such as illegal intrusion, collisions, scratches, and accidental contact with pedestrians or animals. With the advancement of intelligent vehicles, non-driving vehicle safety has also improved. For example, sensors are used to monitor the vehicle's surroundings while the vehicle is not driving. However, current safety monitoring in non-driving vehicles still needs improvement. Summary of the Invention

[0003] The present application provides a control method and device, as well as a vehicle, to reduce power consumption for safety monitoring when the vehicle is not in motion.

[0004] In a first aspect, a control method is provided, comprising:

[0005] receiving a first signaling, the first signaling being used to indicate a request for the vehicle to enter a first operating mode, the first operating mode being used for safety protection of the vehicle when not in use;

[0006] Based on the first signaling, performing a first memory configuration includes: backing up data in the second memory space and controlling the second memory controller of the second memory space to remain in an on state; and controlling the first memory space to enter a self-refresh state and controlling the first memory controller of the first memory space to shut down;

[0007] The second memory space is used as the system memory to control the first system in the first working mode to run; and the second system in the second working mode is controlled to enter a dormant state.

[0008] The above control method configures the memory when entering sentinel mode to reduce memory power consumption, reduce the power consumption of hardware resources in sentinel mode, speed up the startup speed of sentinel mode, reduce the delay of entering sentinel mode, and improve user experience.

[0009] In one implementation, the control method further includes: receiving a second signaling, the second signaling being used to indicate a request for the vehicle to exit the first operating mode, or the second signaling being used to indicate a request for the vehicle to switch from the first operating mode to a second operating mode, the second operating mode being used for a usage state of the vehicle;

[0010] Performing a second memory configuration based on the second signaling includes:

[0011] Read the backed-up data and save the data to the second memory space; and

[0012] Controlling the first memory space to exit the self-refresh state and controlling the first storage controller to start;

[0013] The operation of the second system in the second working mode is restored, wherein the second system uses the first memory space and the second memory space as system memory.

[0014] The process of starting the autonomous driving mode takes a long time. By using the above method, you can quickly switch to the autonomous driving mode when exiting the sentry mode, reducing the startup delay of the autonomous driving mode and improving the user experience.

[0015] In one implementation, the second operating mode is used to assist or control the travel of the vehicle when in use.

[0016] In one implementation, the first memory space includes multiple memory channels, and the second memory space includes a subspace of one memory channel. By selecting the subspace of one memory channel as the second memory space, the remaining memory channels are powered off and placed into a self-refresh state. This single memory channel can meet the memory requirements of sentinel mode, further reducing power consumption in the first operating mode.

[0017] In one implementation, the control method further includes:

[0018] Performing a first processing resource configuration based on the first signaling, where the first processing resource configuration includes one or all of the following:

[0019] Power off the CPU or reserve one CPU core;

[0020] Control the neural network processor to reduce frequency and voltage;

[0021] Retain some neural network processor computing cores;

[0022] Retain some ISP cores;

[0023] Control the video processing unit to reduce frequency and voltage.

[0024] The above control method reduces the consumption of some hardware resources during the operation of sentinel mode, and only retains the functions of abnormal event perception, alarm, and storage of perception data (such as video or image data) under the operation of sentinel mode, thereby further reducing the operating power consumption of sentinel mode without affecting the realization of sentinel mode functions.

[0025] In one implementation, the control method further includes: controlling the second memory space to reduce frequency and voltage based on the first signaling. By reducing frequency and voltage of the currently used memory space, the power consumption in the sentinel mode can be further reduced.

[0026] In a second aspect, a control device is provided, comprising:

[0027] The interface unit is configured to receive a first signaling, the first signaling being used to indicate a request for the vehicle to enter a first operating mode, the first operating mode being used for safety protection of the vehicle when not in use;

[0028] The configuration unit is configured to perform a first memory configuration based on the first signaling, wherein the first memory configuration includes: backing up data in the second memory space, and maintaining the second memory controller of the second memory space in an enabled state; and the first memory space entering a self-refresh state, and the first memory controller of the first memory space entering a disabled state;

[0029] A first control unit is configured to control the operation of the first system in the first working mode using the second storage space as the system memory;

[0030] The second control unit is configured to control the second system in the second working mode to enter a dormant state.

[0031] According to a third aspect, a control device is provided, comprising at least one processor, wherein the at least one processor is configured to execute the above control method.

[0032] In a fourth aspect, a controller is provided, comprising any control device and memory of the second aspect or the third aspect, wherein the memory comprises the first memory space and the second memory space, the first memory space is in a self-refresh state in the first working mode, and the second memory space is used for system memory in the first working mode.

[0033] A fifth aspect provides a control method, comprising:

[0034] receiving first instruction information, where the first instruction information is used to indicate a request for the vehicle to enter a first operating mode, where the first operating mode is used for safety protection of the vehicle when it is not in use;

[0035] Performing a first memory configuration based on the first indication information includes:

[0036] Backing up the data in the second memory space and controlling the second storage controller of the second memory space to remain in an on state; and

[0037] Controlling the first memory space to enter a self-refresh state, and controlling the first storage controller of the first memory space to shut down;

[0038] The second memory space is used as the system memory to control the operation of the first system in the first working mode.

[0039] In one implementation, the control method further includes:

[0040] When the first memory configuration is completed, the first identifier is configured as a first value, and the first value is used to identify the first working mode.

[0041] In one implementation, the control method further includes: receiving second indication information, the second indication information being used to indicate a request for the vehicle to exit the first operating mode, or the second indication information being used to indicate a request for the vehicle to switch from the first operating mode to a second operating mode, the second operating mode being used for a usage state of the vehicle;

[0042] Performing a second memory configuration based on the second indication information includes:

[0043] Read the backed-up data and save the data to the second memory space; and

[0044] The first memory space is controlled to exit the self-refresh state, and the first storage controller is controlled to start.

[0045] In one implementation, the control method further includes: when the second memory configuration is completed, configuring the first identifier to a second value, where the second value is used to identify the second operating mode.

[0046] In one implementation, the second working mode assists or controls the driving of the vehicle when in use.

[0047] In one implementation, the first memory space includes multiple memory channels, and the second memory space includes a subspace of one memory channel.

[0048] In a sixth aspect, a control method is provided, comprising:

[0049] receiving a first signaling, the first signaling being used to indicate a request for the vehicle to enter a first operating mode, the first operating mode being used for safety protection of the vehicle when not in use;

[0050] Based on the first signaling, first indication information is generated, where the first indication information is used to trigger a first memory configuration, where the first memory configuration includes: data in the second memory space is backed up, and the second storage controller of the second memory space remains in an enabled state; and the first memory space enters a self-refresh state, and the first storage controller of the first memory space enters a disabled state;

[0051] The second system in the second working mode is controlled to enter a dormant state.

[0052] In one implementation, the control method further includes:

[0053] receiving a second signaling, the second signaling being used to indicate a request for the vehicle to exit the first operating mode, or being used to indicate a request for the vehicle to switch from the first operating mode to a second operating mode, the second operating mode being used to indicate a state of use of the vehicle;

[0054] Based on the second signaling, second indication information is generated, and the second indication information is used to trigger a second memory configuration, wherein the second memory configuration includes: resaving the backed-up data to the first memory space; and the first memory space exits the self-refresh state, and the first storage controller is in the enabled state;

[0055] A second system in the second working mode is awakened.

[0056] In the seventh aspect, a control device is provided, comprising: a processor, the processor being configured to couple to a memory, calling instructions of the memory to execute any one of the control methods provided in the fourth aspect above, or to execute any one of the control methods provided in the fifth aspect above.

[0057] In the eighth aspect, a controller is provided, characterized in that it includes: a first processor and a second processor; the first processor is configured to execute the control method provided in the fourth aspect; the second processor is configured to execute the control method provided in the fifth aspect.

[0058] In the ninth aspect, a vehicle is provided, comprising any controller provided in the second aspect, the third aspect, or the seventh aspect.

[0059] In a tenth aspect, a computer storage medium is provided, comprising a signaling stored thereon, wherein when the signaling is called by a processor, any one of the control methods provided in the first aspect, the fourth aspect, or the fifth aspect is executed.

[0060] In an eleventh aspect, a computer program product is provided, comprising signaling, wherein when the signaling is called by a processor, any one of the control methods provided in the first aspect, the fifth aspect, or the sixth aspect is executed.

[0061] The above aspects configure the memory when entering Sentry Mode to reduce memory power consumption, reduce the power consumption of hardware resources in Sentry Mode, speed up the startup of Sentry Mode, reduce the delay in entering Sentry Mode, and improve the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] The following is a brief introduction to the drawings used in describing the embodiments.

[0063] Figure 1 A structural block diagram of a vehicle control system provided in an embodiment of the present application;

[0064] Figure 2 A structural block diagram of a control device provided in an embodiment of the present application;

[0065] Figure 3 A flow chart of a control method provided in an embodiment of the present application;

[0066] Figure 4A flow chart of another control method is provided for an embodiment of the present application;

[0067] Figure 5 A flow chart of another control method is provided for an embodiment of the present application;

[0068] Figure 6 A schematic diagram of a memory channel switching from a second operating mode to a first operating mode provided in an embodiment of the present application;

[0069] Figure 7 A schematic diagram of another memory channel switching from the second operating mode to the first operating mode provided in an embodiment of the present application;

[0070] Figure 8 A schematic diagram of another memory channel switching from the second operating mode to the first operating mode provided in an embodiment of the present application;

[0071] Figure 9 An interactive flow chart of a data processing method provided in an embodiment of the present application;

[0072] Figure 10 A structural block diagram of a data processing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0073] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the specific implementation methods of the present application will be described below with reference to the accompanying drawings. The embodiments described below are only some embodiments of the present application. For those skilled in the art, other embodiments can be obtained based on these embodiments without inventive work. Adjustments and improvements made without departing from the concept of the present application are all within the scope of protection of the present application.

[0074] To simplify the drawings, the drawings in the embodiments of this application schematically illustrate only the portions relevant to the corresponding embodiments and do not represent the actual structure of the products. Furthermore, to simplify the drawings and facilitate understanding, some drawings schematically depict only a portion of the structure or components; in practice, more or fewer components with the same or similar structures or functions may exist.

[0075] In the embodiments of the present application, unless otherwise clearly specified and limited, ordinal numbers such as "first", "second", etc. are only used to distinguish and describe related objects, and cannot be understood as indicating or implying the relative importance or order between related objects; in addition, it does not represent the number of related objects. "Multiple" includes two or more, and other quantifiers are similar. " / " is used to describe the relationship between related objects, which represents the "or" relationship between related objects. "And / or" is used to describe the relationship between related objects, which includes any combination relationship between related objects, for example, "a and / or b" includes: "a alone", "b alone", or "a and b".

[0076] In the embodiments of the present application, "connection" includes direct connection or indirect connection, which can be directly connected through a medium (for example, a wire, a trace, etc.), or can be indirectly connected through other elements, or can be internally connected.

[0077] The vehicle electrical and electronic architecture (EEA) is evolving from a distributed architecture to a domain-centralized architecture, and then from the domain-centralized architecture to a centrally centralized architecture. In a distributed architecture, distributed control of functions is achieved through controllers with lower functional integration, such as electronic control units (ECUs).

[0078] In a domain-centralized architecture, the functions of a vehicle can be divided into multiple function domains, which are centrally controlled by a domain controller. The domain controllers can be connected through a bus. The division of the function domain includes, for example, the power domain, chassis domain, body domain, cockpit domain, and autonomous driving domain. For another example, the power domain, chassis domain, and body domain are merged into the vehicle control domain (referred to as the vehicle control domain); the following functional domain divisions are obtained: vehicle domain controller (VDC), cockpit domain controller (CDC), and autonomous driving domain controller (ADC). Autonomous driving can also be called intelligent driving or advanced driving assistance system (ADAS), including any level of autonomous driving, such as any level of autonomous driving from L1 to L5.

[0079] In a centralized architecture, domain controllers evolve into more general computing platforms, such as the vehicle central computer (VCC). The VCC serves as a general computing platform (GCP), providing one or more capabilities for the entire vehicle, including computing, storage, communication, and management. The VCC can connect to multiple zonal control units (ZCUs), each managing a specific zone in the vehicle and connecting to one or more devices within that zone, including sensors, actuators, and ECUs.

[0080] The control system of a vehicle provided by the embodiment of the present application is described using a domain centralized architecture as an example. Figure 1 , which is a structural block diagram of a vehicle control system provided by an embodiment of the present application. Figure 1 As shown, the control system 100 includes a first controller 110, a second controller 120, and a communication device 130. The first controller 110 is used for functional control of a first functional domain of the vehicle; if the first functional domain is, for example, an autonomous driving domain, the first controller can also be referred to as an autonomous driving domain controller. The second controller 120 is used for functional control of a second functional domain of the vehicle; if the second functional domain is, for example, a cockpit domain, the second controller can also be referred to as a cockpit domain controller. The communication device 130 is used for communication between the vehicle and other devices, such as between the vehicle and a server (e.g., a cloud server), or between the vehicle and a user terminal (e.g., a mobile phone, watch, or tablet). The communication method between the communication device 130 and the user terminal includes, for example, wireless sensor networks (e.g., Bluetooth, StarFlash, or ZigBee), wireless local area networks (e.g., WLAN, or WiFi), short-range point-to-point communication, cellular networks (e.g., 3G, 4G, 5G, or 6G), or near field communication technology (NFC). The communication method of the communication device 130 and the server includes, for example, a cellular network (e.g., 3G, 4G, 5G, or 6G). The communication device 130 can be connected to the first controller 110 and the second controller 120 via a bus and a gateway. The communication device 130 can communicate directly with the first controller 110 or communicate with the first controller 110 through the second controller 120.

[0081] Vehicle safety when not in motion can be achieved using the autonomous driving domain controller. For example, after the user parks the vehicle, the autonomous driving domain controller can enter sentry mode, using the vehicle's sensors to monitor the environment around the vehicle. If an abnormal event is identified during the monitoring process, it will notify the user of the occurrence of the abnormal event or record the monitoring data. After Sentry Mode is activated, the vehicle will consume a lot of energy even when not in motion, which will affect the vehicle's range. In energy-constrained scenarios, the use of Sentry Mode may even be affected. For example, for fuel vehicles, the power of the onboard battery may not be enough to meet the energy consumption requirements of Sentry Mode.

[0082] Based on this, the embodiments of the present application control the power consumption elements or data processing processes of vehicles and other means of transport when they are not driving, so that vehicles and other means of transport can obtain safety protection with lower power consumption when they are not driving.

[0083] For example, Figure 1As shown, the first controller 110 includes a main control circuit 111, a memory 112, an interface circuit 113, an interface circuit 114, and a microcontroller unit (MCU) 115. The main control circuit 111 is the main processing module of the first controller 110 and can integrate multiple processors to receive sensory data and make decisions and controls based on the sensory data. The main control circuit 111 can be implemented in the form of a system on chip (SOC). The memory 112 includes, for example, dynamic random-access memory (DRAM); DRAM includes, for example, synchronous dynamic RAM (SDRAM) or double data rate SDRAM (DDR). DDR includes but is not limited to DDR1, DDR2, DDR3, ..., DDR5, etc., and may also include DDR6, etc. as technology develops. The memory 112 provides memory space for the first controller 110 to store data and programs when the main control circuit 111 is running. The interface circuit 113 is used to provide a communication interface between the first controller 110 and the sensor, and converts the data received from the sensor and provides it to the main control circuit 111. For example, the sensor includes a camera, and the interface circuit 113 may include a deserializer for converting the received serial data into parallel data and providing it to the main control circuit 111. The interface circuit 114 is used to provide a communication interface between the first controller 110 and the second controller 120. The interface circuit 114, for example, includes a serializer for converting parallel data into serial data for transmission through a serial communication interface, such as converting data transmitted from the first controller 110 to the second controller 120 into serial data. The MCU 115 can be used to execute control signaling generated by the main control circuit 111, such as controlling the steering, braking, or acceleration of the vehicle. The first controller 111 may also include other interface circuits for communicating with other on-board devices.

[0084] The first controller 110 operates in sentry mode when the vehicle is not in motion. Sentry mode primarily consumes power from the first controller 110 and sensors. For example, the main control circuit 111 and memory 112 contribute the majority of the first controller 110's power consumption, while the remaining power consumption primarily comes from other components such as the MCU and interface circuits.

[0085] In some embodiments of the present application, in order to reduce power consumption in sentry mode, the first controller performs power consumption control on the hardware resources used after entering sentry mode, thereby reducing power consumption in sentry mode. For example, in sentry mode, some sensors are turned off. In order to improve the autonomous driving function of the vehicle, the types and number of sensors connected to the vehicle are becoming increasingly rich, such as but not limited to cameras, ultrasonic sensors, millimeter-wave radars, lidars, etc. In sentry mode, most sensors can be turned off and a small number of sensors can be retained to reduce energy consumption. For example, ultrasonic sensors, millimeter-wave radars, lidars and other sensors are turned off. For another example, the camera of the main viewing angle of the vehicle is retained, and the remaining cameras are turned off for sentry mode; for example, the four-way surround view camera is retained.

[0086] For another example, the first controller 110 is powered on at the board level, and unused hardware modules are powered off to reduce board-level power consumption. For another example, resource reduction management is performed on used hardware modules to reduce power consumption in sentinel mode.

[0087] For example, see Figure 2 , which is a structural block diagram of a control device provided in an embodiment of the present application. Figure 2 As shown, the control device 200 can be, for example, Figure 1The main control circuit 111 shown. The control device 200 includes multiple processing units (or processors); for example, it includes processing unit (or processor) 210-processing unit (or processor) 240. Processing unit 210 is, for example, an image signal processor (ISP), which is used for image signal processing. Processing unit 220 is, for example, a central processing unit (CPU), which is used to execute signaling of an operating system and an application. Processing unit 230 is, for example, a neural network processing unit (NPU), which is used to provide artificial intelligence (AI) computing power for autonomous driving. The combined use of CPU and NPU can provide powerful computing power while optimizing energy efficiency and performance; for example, the CPU handles general tasks and system management, and the NPU focuses on efficient AI computing. Processing unit 240 is, for example, a microcontroller unit (MCU). The storage control unit 250 is, for example, a memory controller (such as a DDR controller), which is used to control read / write operations on memory (such as memory 112). The storage control unit 260 is used to control external storage, such as controlling the reading / writing of non-volatile memory (NVM). The interface unit 270 is used to implement communication with the second controller 120. The implementation of the interface unit 270 is related to the bus protocol used, such as the controller area network (CAN) bus, the controller area network with flexible data rate (CAN FD) bus, the local interconnect network (LIN) bus, the Flex Ray bus, the media oriented systems transport (MOST) bus, the low voltage differential signaling (LVDS) bus, the time triggered protocol / class C (TTP / C) bus, or the Ethernet bus. The control device 200 may include more or fewer processing units, for example, it may also include a video processing unit for performing video encoding / decoding.

[0088] In the autonomous driving mode, the above units all work normally; when the control device 200 enters the sentry mode, the control device 200 can perform at least one of the following operations to further save power consumption: power off some hardware resources; reduce the consumption of some hardware resources, such as reducing one or more hardware resources such as memory, CPU computing power, NPU computing power, etc., so as to limit the hardware performance and further reduce the operating power consumption of the sentry mode; switch the running software system. Compared with the software system in the autonomous driving mode, the software system in the sentry mode can customize and cut the software functions, and only retain the abnormal event perception, alarm, perception data (such as video or image data) storage and other functions under the sentry mode. For the sake of convenience of description, the software system in the sentry mode can be called an online (always on, AON) system. This name is only used to facilitate the description of the system and is not used to limit the implementation form of the system.

[0089] For example, Table 1 shows the changes in hardware resources and software resources in the autonomous driving mode and the sentry mode in some embodiments of the present application, where DDR is used as an example of memory.

[0090] Table 1

[0091]

[0092]

[0093] Please refer to Figure 3 , which is a flow chart of a control method provided in an embodiment of the present application. Figure 3 As shown, the control method includes:

[0094] S310: Receive a first signaling message, where the first signaling message is used to indicate a request for the vehicle to enter a first operating mode;

[0095] S320: Perform resource configuration based on the first signaling.

[0096] The resources running after configuration may include hardware resources and software resources, and match the first working mode. The resource configuration, for example, includes one or more of the above hardware resource configurations; for example, it may also include the above software resource configuration. For example, the control device 200 powers off some hardware in the first working mode to save power consumption. For example, the CPU is powered off. Alternatively, the consumption of some hardware resources is reduced, for example, one CPU core is retained and the remaining CPU cores are powered off. For another example, the NPU is controlled to reduce the frequency and voltage, and / or, some NPU computing cores are retained and the remaining NPU computing cores are powered off. For another example, one or some of the DDR channels are retained and / or the DDR frequency and voltage reduction work is controlled. For another example, some ISP cores (for example, one ISP core) are retained and the remaining ISP cores are powered off. For another example, the video processing unit is controlled to reduce the frequency and voltage. In this way, low-power management of the first working mode can be achieved by limiting the operating power consumption of the hardware resources in the control device.

[0097] The software system of Sentry mode is different from that of autonomous driving mode, and the memory resources used by the two systems are also different. For example, Sentry mode enables one DDR channel, while autonomous driving mode enables four DDR channels. The embodiment of the present application provides a control method that can configure the memory when entering the first working mode to reduce memory power consumption, and can start Sentry mode more quickly, reducing the delay in entering Sentry mode. This configuration can also allow the vehicle to return to autonomous driving mode more quickly when exiting Sentry mode. The following is a description with reference to the accompanying drawings:

[0098] Please refer to Figure 4 , which provides a flow chart of another control method according to the embodiment of the present application. Figure 4 As shown, the method includes:

[0099] S410: Receive a first signaling message, where the first signaling message is used to indicate a request for the vehicle to enter a first operating mode, where the first operating mode is used for safety protection of the vehicle when it is not in use;

[0100] S420: Perform a first memory configuration based on the first signaling;

[0101] Performing the first memory configuration includes: controlling the first memory space to enter a self-refresh state; and controlling the first storage controller of the first memory space to shut down; backing up data in the second memory space, and controlling the second storage controller of the second memory space to remain in an open state.

[0102] S430: Controlling the first system in the first working mode to run using the second memory space as the system memory, and controlling the second system in the second working mode to enter a dormant state.

[0103] Through the above first memory configuration, in the first working mode, only part of the memory space (the second memory space) is reserved for the operation of the first system in the first working mode, and the other memory space (the first memory space) enters the self-refresh state to save memory power consumption. Taking the memory space of 4 DDR channels as an example, the memory space corresponding to 3 of the DDR channels is used as the first memory space, and the memory space corresponding to the remaining 1 DDR channel is used as the second memory space. When entering the first working mode, the first system accesses the second memory space through the remaining 1 DDR channel, and the 3 DDR channels are powered off to save power consumption. The content backup of the second memory space and the self-refresh of the first memory space are conducive to data recovery in the second working mode.

[0104] The second memory space may be pre-configured or the second memory space may be allocated for the second operating mode by the processor (e.g., CPU) of the autonomous driving domain controller each time the autonomous driving domain controller is started; or, allocated for the second operating mode when the processor of the autonomous driving domain controller receives the first signaling.

[0105] When exiting the first working mode, please refer to Figure 5 , which is a flow chart of another control method provided in the embodiment of the present application. Figure 5 As shown, the control method further includes:

[0106] S510: Receive a second signaling; the second signaling is used to indicate a request for the vehicle to exit the first operating mode, or the second signaling is used to indicate a request for the vehicle to switch from the first operating mode to the second operating mode, where the second operating mode indicates the operating state of the vehicle;

[0107] S520: Perform a second memory configuration based on the second signaling.

[0108] Performing the second memory configuration includes: reading the backup data and saving the data to the second memory space; controlling the first memory space to exit the self-refresh state, and controlling the first storage controller to start, reading the backup data and storing it back in the second memory space.

[0109] S530: Resume the operation of the second system in the second working mode, and the second system uses the first memory space and the second memory space as system memory.

[0110] In this way, the vehicle can return to the state it was in when it exited the first operating mode and continue to execute the first operating mode. The above second signaling is generated based on the vehicle's request to exit the first operating mode, or based on the vehicle's request to switch from the first operating mode to the second operating mode. The second operating mode is, for example, an autonomous driving mode, or the second operating mode is used to assist or control the vehicle's travel while in use.

[0111] The process of starting the autonomous driving mode takes a long time. By using the above method, you can quickly switch to the autonomous driving mode when exiting the sentry mode, reducing the startup delay of the autonomous driving mode and improving the user experience.

[0112] When switching from the second operating mode to the first operating mode, a subspace of one memory channel can be selected as the second memory space. The remaining multiple memory channels are powered down and enter self-refresh mode. This single memory channel can meet the memory requirements of sentinel mode and further reduce power consumption in the first operating mode.

[0113] For example, please refer to Figure 6 , which is a schematic diagram of a memory channel switching from the second working mode to the first working mode provided by an embodiment of the present application. The figure takes DDR memory as an example for description. Figure 6 As shown, the memory of the autonomous driving domain controller includes 4 memory channels, which are controlled by DDR controllers (DDRC) 1-4 respectively, and each DDRC corresponds to a DDR channel. In the second operating mode, DDRC1-4 are in the power-on state, and the second memory space is reserved for the first operating mode in the DDR space corresponding to DDRC1. When switching to the first operating mode, the data in the second memory space is backed up, DDRC2-4 is powered off, that is, the channel is closed, and DDRC1 operates normally or at a reduced frequency and voltage. In some embodiments, the data in the second memory space can be backed up to a non-volatile memory. When switching back to the second operating mode, the backed-up data can be restored from the non-volatile memory.

[0114] In some other embodiments, the data in the second memory space can also be backed up to other memory spaces. In this way, the switching delay of the working mode can be further reduced. For example, please refer to Figure 7 , which is a schematic diagram of another memory channel switching from the second working mode to the first working mode provided by an embodiment of the present application. Figure 6 The difference of the embodiment shown is that space is reserved in the memory corresponding to any memory channel DDRC2-4 (for example, DDRC2) for backing up the data in the second memory space. Figure 8 , which is a schematic diagram of another memory channel switching from the second working mode to the first working mode provided by an embodiment of the present application. Figure 7 The difference in the illustrated embodiment is that space is reserved in the memory corresponding to the DDRC2-4 memory channels for backing up data in the second memory space. When switching back to the second operating mode, the backed-up data can be restored from the reserved space in other memories. This reduces the time it takes to access the external memory and reduces the switching delay between the first and second operating modes.

[0115] The above control method can be executed by a control device, for example, Figure 1 The main control circuit 111 or the first controller 110 shown. The first system running in the first working mode and the second system running in the second working mode can run on different hardware resources. For example, please refer to Figure 2 The first system runs on a processing unit 240 (e.g., an MCU), and the second system runs on a processing unit 220 (e.g., a CPU). Alternatively, the first system and the second system can run on the same processing unit, for example, both running on a processing unit 220 (e.g., a CPU). When the first system runs, the CPU can run only a few CPU cores, for example, one CPU core. The first memory configuration and the second memory configuration can be executed by the MCU or the CPU.

[0116] The following describes the memory configuration performed by MCU as an example.

[0117] Please refer to Figure 9 , which is an interactive flow chart of a control method provided by an embodiment of the present application. Figure 9 As shown. When the conditions for entering the first working mode are met, the CPU receives the first signaling. The condition can be triggered based on the user or by the vehicle itself. For example, when the vehicle is not in a driving state, the vehicle can actively trigger to enter the first working mode. For example, when the user turns off the vehicle power or pulls out the vehicle key, the body system can automatically generate a request to enter the first working mode. The request can be sent directly from the vehicle domain controller to the autonomous driving domain controller, or forwarded through the cockpit domain controller or communication device. For another example, the vehicle can enter the first working mode based on the user's request. The user can use the human-computer interaction interface provided by the cockpit domain to request to enter the first working mode, such as through buttons, touch, voice commands, or gesture commands to request to enter the first working mode. The cockpit domain controller sends a request to enter the first working mode to the autonomous driving domain controller based on the user's request. For another example, the user can use a user terminal such as a mobile phone or a watch to send a request to the vehicle's communication device to request the first working mode, and the communication device sends a request to enter the first working mode to the autonomous driving domain controller.

[0118] Because the autonomous driving domain controller is critical to vehicle safety, access to it can be controlled using safety circuits to enhance safety. This description uses a functional safety island (FSI) as an example, but this application is not limited to this. Other safety chips or circuits may also be used. After the FSI receives the entry request, the FSI's operating system (OS) clears the current task and sends a first signaling message to the CPU. The FSI then enters an idle state. The CPU receives the first signaling message, and the CPU's operating system clears the current task, preparing to switch from the second operating mode to the first operating mode. The CPU saves field data (e.g., context data or hardware status data) and executes a mode switching program. For example, the field data is saved to the DDR and then jumps to the static random-access memory (SRAM) code to execute the mode switching program. The CPU and MCU shake hands, instructing the MCU to perform a first memory configuration, and then enter a wait for interrupt (WFI) state, also known as a sleep state. For example, the CPU sends a first indication message to the MCP, instructing the MCU to perform a first memory configuration. The MCU receives the first indication message and performs the first memory configuration. For example, the bus interleaving mode is changed to single-channel mode, the first memory space in the memory is controlled to enter the self-refresh state, the corresponding storage controller is powered off, and the data in the second memory space is backed up. The MCU configures the working mode flag to the first value and then triggers the CPU to wake up. The CPU wakes up and reads the working mode flag to confirm entry into the first working mode, executes the first working mode startup program, and notifies the FSI of the entry into the first working mode. After the FSI updates the status record, it enters the WFI state.

[0119] When the conditions for exiting the first working mode (switching back to the first working mode from the second working mode) are met, the CPU receives the second signaling. Similarly, the condition can be triggered based on the user or by the vehicle itself. For example, when the vehicle is in driving state, the vehicle can actively trigger the exit from the first working mode (or enter the second working mode). For example, when the user turns on the vehicle power or inserts the vehicle key, the body system can automatically generate a request to enter the second working mode. The request can be sent directly from the vehicle domain controller to the autonomous driving domain controller, or forwarded through the cockpit domain controller or communication device. For another example, the vehicle can enter the second working mode based on the user's request. The user can use the human-computer interaction interface provided by the cockpit domain to request to enter the second working mode, such as through buttons, touch, voice commands, or gesture commands to request to enter the second working mode. The cockpit domain controller sends a request to enter the second working mode to the autonomous driving domain controller based on the user's request. For another example, the user can use a user terminal such as a mobile phone or a watch to send a request to the vehicle's communication device to request the second working mode, and the communication device sends a request to enter the second working mode to the autonomous driving domain controller.

[0120] Please continue to refer to Figure 9 , when switching back to the first working mode from the second working mode, the FSI receives the exit request and sends the second signaling to the CPU. The CPU receives the second signaling. The CPU's operating system clears the current task and prepares to switch from the first working mode to the second working mode. For example, the CPU jumps to the SRAM code to run the mode switching program. The CPU and the MCU shake hands, send a second indication message to the MCU, and enter the WFI state, such as the sleep state. The MCU then configures the second memory, such as reading the backup data and rewriting it back to the second memory space, so that the DDRC of the first memory space is powered on, and after completing the DDRC initialization, the DDR corresponding to the first memory space is configured to exit the self-refresh state. The MCU configures the working mode flag bit (flag) to the second value to wake up the CPU; the CPU reads the working mode flag bit, confirms entering the second working mode, and executes the breakpoint recovery process. After completing the breakpoint recovery process, the CPU processor runs the second system.

[0121] The first system may be run by the MCU. For example, the MCU loads the first system image in the first working mode into the reserved space (ie, the second memory space) for running.

[0122] Since the first memory space is in a self-refresh state and the data in the second memory space is backed up, when exiting the first working mode, the data in the first memory space is still intact, and the amount of data in the second memory space is relatively small, so it can be restored faster, and the memory is restored to the state when the second system enters sleep mode, so the CPU can wake up quickly and resume the operation of the second working mode more quickly, reducing the delay in switching working modes and improving user experience.

[0123] Based on similar technical concepts, an embodiment of the present application also provides a control method, including at least one step executed by the above MCU. For example, the control method includes: receiving a first indication message, the first indication message is used to indicate a request for the vehicle to enter a first operating mode, and the first operating mode is used for safety protection of the vehicle when it is not in use; based on the first indication message, performing a first memory configuration, including: controlling the first memory space to enter a self-refresh state and controlling the first storage controller of the first memory space to shut down; backing up data in the second memory space and controlling the second storage controller of the second memory space to remain in an open state; and controlling the operation of the first system in the first operating mode using the second memory space as system memory.

[0124] Optionally, the above control method further includes: when completing the first memory configuration, configuring the first identifier to a first value, where the first value is used to identify the first working mode.

[0125] Optionally, the above control method also includes: receiving a second indication message, the second indication message is used to indicate a request for the vehicle to exit the first operating mode, or the second indication message is used to indicate a request for the vehicle to switch from the first operating mode to the second operating mode, and the second operating mode is used for the usage status of the vehicle; based on the second indication message, performing a second memory configuration, including: reading the backed-up data and saving the data to the second memory space; and controlling the first memory space to exit the self-refresh state, and controlling the first storage controller to turn on.

[0126] Optionally, the above control method further includes: when completing the second memory configuration, configuring the first identifier to a second value, where the second value is used to identify the second working mode.

[0127] Based on similar technical concepts, an embodiment of the present application further provides a control method, including at least one step executed by the above CPU. For example, it includes: receiving a first signaling, the first signaling is used to indicate a request for a vehicle to enter a first operating mode, the first operating mode is used for safety protection of the vehicle when not in use; based on the first signaling, generating a first indication information, the first indication information is used to trigger a first memory configuration, the first memory configuration includes: the first memory space enters a self-refresh state, the first storage controller of the first memory space enters a closed state; the data of the second memory space is backed up, and the second storage controller of the second memory space remains in an open state; and controlling the second system of the second operating mode to enter a dormant state.

[0128] Optionally, the above control method also includes: receiving a second signaling, the second signaling is used to indicate a request for the vehicle to exit the first working mode, or is used to indicate a request for the vehicle to switch from the first working mode to the second working mode, the second working mode is used for the usage status of the vehicle; based on the second signaling, generating a second indication information, the second indication information is used to trigger a second memory configuration, the second memory configuration includes: the backed up data is re-saved to the first memory space; and the first memory space exits the self-refresh state, and the first storage controller is in the on state; waking up the second system in the second working mode.

[0129] Based on similar technical concepts, an embodiment of the present application also provides a control device, including a unit or means for executing any of the above control method steps.

[0130] For example, see Figure 10 , which is a structural block diagram of a control device provided in an embodiment of the present application. Figure 10 As shown, the control device 1000 includes an interface unit 1010, a configuration unit 1020, a first control unit 1030, and a second control unit 1040. The interface unit is configured to receive a first signaling. The configuration unit 1020 is configured to perform a first memory configuration based on the first signaling. The first control unit 1030 is configured to control the operation of a first system in a first operating mode using a second storage space as system memory. The second control unit is configured to control the second system in a second operating mode to enter a dormant state.

[0131] During the process of exiting the first working mode, the interface unit 1010 is further configured to receive a second signaling. The configuration unit 1020 is further configured to perform a second memory configuration based on the second signal. The second control unit 1040 is further configured to resume operation of the second system in the second working mode.

[0132] For descriptions of the first signaling, the second signaling, the first memory configuration, the second memory configuration, etc., refer to the above method embodiments.

[0133] The division of the above units is merely a division of logical functions. In actual implementation, they may be fully or partially integrated into a single physical entity, or they may be physically separated. For example, the interface unit 1010 may include an interface circuit. The configuration unit 1020 may include a processor, such as an MCU or a CPU. The first control unit 1030 may include a processor, such as an MCU or a CPU, and the second control unit may include a processor, such as a CPU.

[0134] Based on similar technical concepts, an embodiment of the present application also provides a control device, including at least one processor, configured to execute any of the above control methods.

[0135] It can be seen that adopting any of the above control methods or control devices can reduce the power consumption of vehicles or other means of transportation in sentinel mode and expand the application scope of sentinel mode.

[0136] When Sentry Mode is in operation, it senses the vehicle's surroundings and, based on this data, determines whether any unusual events have occurred, such as illegal intrusion, collisions, scrapes, or accidental contact by pedestrians or animals. Furthermore, it can issue alerts and record any unusual events that are identified. However, the current recording method, which triggers recording based on unusual events, can result in the loss of critical information. For example, data from the period immediately preceding an unusual event may not be recorded, leaving users without crucial information when tracing back the unusual event.

[0137] Based on this, in some embodiments of the present application, sensor data is processed in two ways: one path is used to determine whether an abnormal event has occurred, and the other path is cached. When an abnormal event is determined to have occurred, the cached data is transferred to non-volatile storage. Because data caching is not triggered by the occurrence of an abnormal event but is performed synchronously, the cached data is likely to include data from the period before the abnormal event, reducing the probability of key information loss and further improving the user experience.

[0138] For example, please refer to Figure 2 , the image data D sensed by the camera is sent to the processing unit 210 (for example, ISP) for image signal processing. The processed image data is divided into two paths. The first path of image data is sent to the processing unit 230 (for example, NPU) for visual fusion / perception operation to monitor the vehicle's surrounding environment through visual perception. The second path of image data is sent to space B of the memory, for example, it can be sent to space B of the memory for caching after being video encoded by the video processing unit. When the processing unit 230 detects an abnormal event around the vehicle, the storage control unit 260 of the control device 200 saves the image data cached in space B to an external storage device.

[0139] In some embodiments, the control device 200 transfers the cached image data to an external storage device connected thereto. In other embodiments, the control device 200 sends the cached image data to the second controller 120 via the interface unit 270 for transfer, for example, to an external storage device connected to the second controller 120. In yet other embodiments, the control device 200 sends the cached image data to a communication device, which sends the data to a server for transfer (for example, a cloud storage space). In yet other embodiments, the control device 200 sends the cached image data to the second controller 120, which sends the data to a server via a communication device for transfer. The above transfer methods can be used in combination. For example, in sentry mode, the control device 200 caches the cached image data in a local external storage device, and after exiting sentry mode, sends the transferred image data to the server via the communication device. In this way, the power consumption of data forwarding in sentry mode can be saved. For another example, the control device 200 caches the cached image data in a local external storage device. When the user receives an alarm indication, he or she can request the transferred image data from the server or vehicle. At this time, the vehicle sends the transferred image data to the user terminal or server based on the request from the user terminal or server.

[0140] Space B is, for example, a ring buffer area; in this way, the perception data can be periodically updated according to the cache depth cycle, wherein the perception data corresponding to the abnormal event is transferred and is not affected by the periodic update. In this way, memory resources can be saved and the requirements for abnormal event recording in the sentry mode can be met with lower resources. The cache depth can be configurable or pre-set. For example, the cache depth is pre-configured in the control device in the form of a parameter, and the memory controller of the control device applies for cache space as a ring buffer area for the sentry mode based on the parameter. Alternatively, the cache depth can be reconfigured by the user, and the user can configure the cache depth according to the length of the video to be recorded. For example, a configuration interface is provided to the user through the human-computer interaction interface of the cockpit or the application interface of the user terminal (such as a mobile phone, watch, or tablet computer). The user enters the configuration parameters in the configuration interface, such as the length of the video to be recorded. The system automatically converts the configuration parameters into parameters corresponding to the cache depth and sends them to the control device. The memory controller of the control device applies for cache space as a ring buffer area for the sentry mode based on the parameter. The present application does not limit the size of the cache depth, and it can be flexibly configured according to the length of the video to be recorded. For example, if you want to record 30 seconds of data around the occurrence of an abnormal event, the cache depth can be configured to save at least 30 seconds of data.

[0141] In conjunction with the above embodiments, the data flow control and scheduling process in Sentry Mode can be performed by a processor running the AON system, such as a CPU or MCU. Using an MCU can further reduce Sentry Mode power consumption. The MCU can run a lightweight real-time operating system (RTOS) to reduce the amount of hardware resources consumed by software, thereby shutting down or reducing hardware resources and further reducing power consumption.

[0142] Based on similar technical concepts, an embodiment of the present application further provides a controller comprising at least one processor for executing any of the above control methods. The controller may include, for example, a domain control unit (DCU), a vehicle central computer (VCC), a zone controller (ZCU), a micro control unit (MCU), or a vehicle control unit (VCU). The domain controller may include, for example, a vehicle domain controller (VDC), a cockpit domain controller (CDC), or an autonomous driving domain controller (ADC).

[0143] Based on similar technical concepts, an embodiment of the present application also provides a vehicle, which includes, for example, a vehicle, a ship, or an aircraft (such as a flying vehicle or a drone, etc.).

[0144] Based on similar technical concepts, an embodiment of the present application further provides a computer storage medium, including signaling stored thereon, and when the signaling is called by a processor, any one of the control methods in the above embodiments is executed.

[0145] Based on similar technical concepts, an embodiment of the present application further provides a computer program product, including signaling, which, when called by a processor, executes any one of the control methods in the above embodiments.

[0146] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments. In addition, the above embodiments can be freely combined as needed.

Claims

1. A control method, characterized in that: include: receiving a first signaling, where the first signaling is used to indicate a request for a vehicle to enter a first operating mode, where the first operating mode is used for safety protection of the vehicle when it is not in use; Performing a first memory configuration based on the first signaling includes: Backing up the data in the second memory space and controlling the second storage controller of the second memory space to remain in an on state; and Controlling the first memory space to enter a self-refresh state, and controlling the first storage controller of the first memory space to shut down; The second memory space is used as the system memory to control the first system in the first working mode to run; and the second system in the second working mode is controlled to enter a dormant state.

2. The control method according to claim 1, characterized in that: Also includes: receiving a second signaling, where the second signaling is used to indicate a request for the vehicle to exit the first operating mode, or the second signaling is used to indicate a request for the vehicle to switch from the first operating mode to the second operating mode, where the second operating mode is used for the vehicle; Performing a second memory configuration based on the second signaling includes: Read the backed-up data and save the data to the second memory space; and controlling the first memory space to exit the self-refresh state, and controlling the first storage controller to start; The operation of the second system in the second working mode is restored, wherein the second system uses the first memory space and the second memory space as system memory.

3. The control method according to claim 1 or 2, characterized in that: The second working mode is used to assist or control the driving of the vehicle in the use state.

4. The control method according to any one of claims 1 to 3, characterized in that: The first memory space includes multiple memory channels, and the second memory space includes a subspace of one memory channel.

5. The control method according to any one of claims 1 to 4, characterized in that: Also includes: Performing a first processing resource configuration based on the first signaling, where the performing the first processing resource configuration includes one or all of the following: Power off the CPU or reserve one CPU core; Control the neural network processor to reduce frequency and voltage; Retain some neural network processor computing cores; Retain some image signal processor cores; Control the video processing unit to reduce frequency and voltage.

6. The control method according to any one of claims 1 to 5, characterized in that: Also includes: Based on the first signaling, control the second memory space to reduce frequency and voltage.

7. A control method, characterized in that: include: receiving first indication information, where the first indication information is used to indicate a request for a vehicle to enter a first operating mode, where the first operating mode is used for safety protection of the vehicle when it is not in use; Performing a first memory configuration based on the first indication information includes: Backing up the data in the second memory space and controlling the second storage controller of the second memory space to remain in an on state; and Controlling the first memory space to enter a self-refresh state, and controlling the first storage controller of the first memory space to shut down; The second memory space is used as system memory to control the operation of the first system in the first working mode.

8. A control method, characterized in that: include: receiving a first signaling, where the first signaling is used to indicate a request for a vehicle to enter a first operating mode, where the first operating mode is used for safety protection of the vehicle when it is not in use; generating first indication information based on the first signaling, the first indication information being used to trigger a first memory configuration, the first memory configuration comprising: backing up data in the second memory space, maintaining a second storage controller in the second memory space in an enabled state; and entering a self-refresh state in the first memory space, and entering a disabled state in the first storage controller in the first memory space; The second system in the second working mode is controlled to enter a dormant state.

9. A control device, characterized in that: include: The interface unit is configured to receive a first signaling, wherein the first signaling is used to indicate a request for the vehicle to enter a first operating mode, wherein the first operating mode is used for safety protection of the vehicle when it is not in use; A configuration unit is configured to perform a first memory configuration based on the first signaling, wherein the first memory configuration includes: data in the second memory space is backed up, and the second memory controller of the second memory space remains in an on state; the first memory space enters a self-refresh state, and the first memory controller of the first memory space enters a off state; and a first control unit configured to control operation of the first system in the first working mode using the second storage space as system memory; The second control unit is configured to control the second system in the second working mode to enter a dormant state.

10. A control device, characterized in that: The device comprises at least one processor, wherein the at least one processor is configured to execute the control method according to any one of claims 1 to 8.

11. A controller, characterized in that: It includes the control device and memory as described in claim 9 or 10, the memory includes the first memory space and the second memory space, the first memory space is in a self-refresh state in the first working mode, and the second memory space is used for system memory in the first working mode.

12. A vehicle comprising the control device according to claim 9 or 10.

13. A computer storage medium comprising signaling stored thereon, wherein when the signaling is called by a processor, the control method according to any one of claims 1 to 8 is executed.

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