Control method and device, and vehicle

Abstract

This application discloses a control method and apparatus, as well as a vehicle. The control method includes receiving a first signaling instruction, the first signaling instruction 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 in a non-use state; based on the first signaling instruction, performing a first memory configuration, including: backing up data in a second memory space and controlling the second storage controller of the second memory space to remain on; 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; using the second memory space as system memory to control the operation of a first system in the first operating mode; and controlling the second system in the second operating mode to enter a hibernation state. This control method allocates memory resources during the sentinel mode switching process to reduce the memory space of the system running in sentinel mode and reduce the power consumption requirements in sentinel mode operation.

Description

Technical Field

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

[0002] Traditional vehicle safety primarily focuses on active and passive safety during driving, with relatively little attention paid to safety when the vehicle is not in motion. However, potential safety risks still exist when a vehicle is not in motion, such as unauthorized intrusion, collisions, scratches, and accidental contact with pedestrians or animals. With the development of vehicle intelligence, safety measures for vehicles in non-driving states have also improved. For example, sensors can be used to monitor the vehicle's surroundings when it is not in motion. However, current safety monitoring systems for non-driving states still require improvement. Summary of the Invention

[0003] This application provides a control method and apparatus, as well as a vehicle, to reduce the power consumption of safety monitoring when the vehicle is not in motion.

[0004] Firstly, a control method is provided, including:

[0005] Receive a first signaling message, which is used to indicate a request for the vehicle to enter a first operating mode. The first operating mode is used for the safety protection of the vehicle when it is not in use.

[0006] Based on the first signaling, the first memory configuration is performed, including: backing up the data in the second memory space and keeping the second storage controller of the second memory space on; and controlling the first memory space to enter a self-refresh state and controlling the first storage controller of the first memory space to turn off.

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

[0008] The above control methods reduce memory power consumption, decrease the power consumption of hardware resources in sentinel mode, speed up the startup of sentinel mode, reduce the latency of entering sentinel mode, and improve the user experience by configuring memory when entering sentinel mode.

[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 a first operating mode, or the second signaling being used to indicate a request for the vehicle to switch from a first operating mode to a second operating mode, the second operating mode being used for the vehicle's operating state.

[0010] Based on the second signaling, a second memory configuration is performed, including:

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

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

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

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

[0015] In one implementation, the second operating mode is used to assist or control the movement of the vehicle while it is 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 a subspace of one memory channel as the second memory space, the channels of the other multiple memory channels are powered down and enter a self-refresh state. One memory channel can meet the memory requirements of the sentinel mode, further reducing power consumption in the first operating mode.

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

[0018] Based on the first signaling, the first processing resource configuration is performed, which includes one or all of the following:

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

[0020] Control the neural network processor to operate at reduced frequency and voltage;

[0021] Retain some neural network processor computing cores;

[0022] Reserve 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 detection, alarm, and storage of perception data (such as video or image data) under the operation of Sentinel mode. Without affecting the implementation of the functions of Sentinel mode, it further reduces the power consumption of Sentinel mode.

[0025] In one implementation, the control method further includes controlling the second memory space to operate at reduced frequency and voltage based on the first signaling. By controlling the reduced frequency and voltage of the currently used memory space, the power consumption during sentry mode can be further reduced.

[0026] Secondly, a control device is provided, comprising:

[0027] The interface unit is configured to receive a first signaling, which is used to indicate a request for the vehicle to enter a first working mode. The first working mode is used for the safety protection of the vehicle in a non-use state.

[0028] The configuration unit is configured to perform a first memory configuration based on a first signaling. The first memory configuration includes: the data in the second memory space is backed up, the second storage controller of the second memory space remains on, and the first memory space enters a self-refresh state, while the first storage controller of the first memory space enters a closed state.

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

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

[0031] Thirdly, a control device is provided, including at least one processor configured to execute the control method described above.

[0032] Fourthly, a controller is provided, comprising any one of the control devices of the second or third aspect and a memory, the memory comprising a first memory space and a second memory space, the first memory space being in a self-refreshing state in the first operating mode, and the second memory space being used as system memory in the first operating mode.

[0033] Fifthly, a control method is provided, including:

[0034] Receive first instruction information, the first instruction information is used to instruct the vehicle to enter a first working mode, the first working mode is used for the safety protection of the vehicle in the non-use state;

[0035] Based on the first instruction information, perform the first memory configuration, including:

[0036] Back up the data in the second memory space and keep the second storage controller of the second memory space powered on; and

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

[0038] The first system operates in the first working mode, using the second memory space as the system memory control.

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

[0040] When the first memory configuration is completed, the first identifier is configured with the first value, which 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 working mode, or the second indication information being used to indicate a request for the vehicle to switch from the first working mode to the second working mode, the second working mode being used as the usage state of the vehicle.

[0042] Based on the second instruction information, a second memory configuration is performed, including:

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

[0044] Control the first memory space to exit the self-refresh state and control the first storage controller to start.

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

[0046] In one implementation, the second operating mode assists or controls the movement of the vehicle while it is in use.

[0047] In one implementation, the first memory space includes multiple memory paths, and the second memory space includes a subspace of a single memory path.

[0048] Sixthly, a control method is provided, comprising:

[0049] Receive a first signaling message, which is used to indicate a request for the vehicle to enter a first operating mode. The first operating mode is used for the safety protection of the vehicle when it is not in use.

[0050] Based on the first signaling, a first indication is generated. The first indication is used to trigger a first memory configuration. The first memory configuration includes: the data in the second memory space is backed up, the second storage controller of the second memory space remains on, and the first memory space enters a self-refresh state, while the first storage controller of the first memory space enters a closed state.

[0051] The second system, which controls the second operating mode, enters a hibernation state.

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

[0053] Receive a second signaling message, which is used to indicate a request for the vehicle to exit the first operating mode, or 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 the operating state of the vehicle.

[0054] Based on the second signaling, a second indication information is generated. The second indication information is used to trigger a second memory configuration. The second memory configuration includes: the backed-up data is saved back 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.

[0055] The second system is activated to operate in the second mode.

[0056] A seventh aspect provides a control device comprising: a processor configured to be coupled to memory, which invokes instructions from the memory to execute any of the control methods provided in the fourth aspect above, or to execute any of the control methods provided in the fifth aspect above.

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

[0058] Ninth aspect, providing a vehicle including any of the controllers provided in the second, third, or seventh aspects.

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

[0060] Eleventhly, a computer program product is provided, including signaling, which, when invoked by a processor, executes any one of the control methods provided by the first, fifth, or sixth aspects.

[0061] All of the above measures reduce memory power consumption, decrease hardware power consumption in sentinel mode, speed up the startup of sentinel mode, reduce latency when entering sentinel mode, and improve user experience by configuring memory when entering sentinel mode. Attached Figure Description

[0062] The accompanying drawings used in the description of the embodiments will be briefly introduced below.

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

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

[0065] Figure 3 A flowchart of a control method provided in an embodiment of this application;

[0066] Figure 4A flowchart of another control method is provided for embodiments of this application;

[0067] Figure 5 A flowchart of yet another control method is provided for embodiments of this application;

[0068] Figure 6 A schematic diagram illustrating a memory channel switching from a second working mode to a first working mode, provided as an embodiment of this application;

[0069] Figure 7 A schematic diagram illustrating another memory channel switching from a second working mode to a first working mode, provided in an embodiment of this application;

[0070] Figure 8 A schematic diagram illustrating another memory channel switching from a second working mode to a first working mode, provided in an embodiment of this application;

[0071] Figure 9 An interactive flowchart of a data processing method provided in an embodiment of this application;

[0072] Figure 10 This is a structural block diagram of a data processing device provided in an embodiment of this application. Detailed Implementation

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

[0074] To keep the drawings concise, the figures in this application only schematically show the parts related to the corresponding embodiments, and they do not represent the actual structure of the product. In addition, to make the drawings concise and easy to understand, some figures only schematically show part of the structure or components, and there may actually be more or fewer components with the same or similar structure or function.

[0075] In the embodiments of this application, unless otherwise explicitly specified and limited, ordinal numbers, such as "first," "second," etc., are used only to distinguish and describe related objects, and should not be construed as indicating or implying the relative importance or order between related objects; furthermore, they do not represent the quantity of related objects. "Multiple" includes two or more, and other quantifiers are similar. " / " is used to describe the relationship between related objects, indicating an "or" relationship between them. "And / or" is used to describe the relationship between related objects, including any combination relationship between them, such as "a and / or b," which includes: "a alone," "b alone," or "a and b."

[0076] In the embodiments of this application, "connection" includes direct connection or indirect connection. It can be directly connected through a medium (e.g., wires, wiring, etc.), or indirectly connected through other components, or it can be an internal connection.

[0077] Vehicle electrical and electronic architecture (EEA) has evolved from a distributed architecture to a domain-centralized architecture, and then from a domain-centralized architecture to a centralized architecture. In a distributed architecture, functions are distributedly controlled through controllers with lower functional integration, such as electronic control units (ECUs).

[0078] In a domain-centralized architecture, vehicle functions can be divided into multiple function domains, each centrally controlled by a domain controller. Domain controllers can be connected via a bus. These function domains can include, for example, powertrain domain, chassis domain, body domain, cockpit domain, and autonomous driving domain. Alternatively, the powertrain, chassis, and body domains can be merged into a single vehicle control domain (VDC), resulting in the following function domains: Vehicle Domain Controller (VDC), Cockpit Domain Controller (CDC), and Autonomous Driving Domain Controller (ADC). Autonomous driving, also known as intelligent driving or Advanced Driving Assistance System (ADAS), encompasses any level of autonomous driving, such as any level from L1 to L5.

[0079] In a centralized architecture, the domain controller evolves into a more general-purpose computing platform, 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 zone control units (ZCUs), each ZCU managing a zone within the vehicle; connecting to sensors, actuators, and ECUs (Electronic Control Units) or other devices within that zone.

[0080] This application describes a vehicle control system based on a domain-centralized architecture as an example. Please refer to... Figure 1 This is a structural block diagram of a vehicle control system provided in an embodiment of this 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; this first functional domain is, for example, the autonomous driving domain, and the first controller can also be called an autonomous driving domain controller. The second controller 120 is used for functional control of a second functional domain of the vehicle; this second functional domain is, for example, the cockpit domain, and the second controller can also be called a cockpit domain controller. The communication device 130 is used for communication between the vehicle and other devices, such as communication between the vehicle and a server (e.g., a cloud server), or communication between the vehicle and a user terminal (e.g., a mobile phone, watch, or tablet computer). The communication methods between the communication device 130 and the user terminal include, 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 (NFC). The communication method between 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 during non-driving states can be achieved using an autonomous driving domain controller. For example, after parking, the autonomous driving domain controller can enter sentry mode, using the vehicle's sensors to monitor the surrounding environment. If an anomaly is detected during monitoring, the controller will notify the user of the event or record the monitoring data. However, even when the vehicle is not in motion, sentry mode still consumes significant energy, thus affecting its range. In energy-constrained scenarios, this can even hinder the use of sentry mode; for example, in gasoline-powered vehicles, the onboard battery may not be sufficient to meet the energy requirements of sentry mode.

[0082] Based on this, the embodiments of this application control the power consumption components or data processing of vehicles and other vehicles in the non-driving state, so that vehicles and other vehicles can obtain safety protection with lower power consumption in the non-driving state.

[0083] For example, such as 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 for receiving sensing data and making decisions and controlling based on the sensing data. This main control circuit 111 can be implemented as 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), etc. DDR includes, but is not limited to, DDR1, DDR2, DDR3, ..., DDR5, etc., and with technological advancements, may also include DDR6, etc. The memory 112 provides memory space for the first controller 110 to store the data and programs of the main control circuit 111 during operation. Interface circuit 113 provides a communication interface between the first controller 110 and the sensor, and converts the data received from the sensor before providing it to the main control circuit 111. For example, if the sensor includes a camera, interface circuit 113 may include a deserializer to convert the received serial data into parallel data for transmission through the main control circuit 111. Interface circuit 114 provides a communication interface between the first controller 110 and the second controller 120. Interface circuit 114 may include a serializer to convert 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. MCU 115 can be used to execute control commands generated by the main control circuit 111, such as controlling the vehicle's steering, braking, or acceleration. The first controller 111 may also include other interface circuits for communication with other vehicle-mounted devices.

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

[0085] In some embodiments of this application, to reduce power consumption in sentry mode, the first controller manages the power consumption of 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. To improve the autonomous driving function of vehicles, the types and numbers of sensors connected to vehicles are becoming increasingly diverse, including but not limited to cameras, ultrasonic sensors, millimeter-wave radar, and lidar. In sentry mode, most sensors can be turned off, while a small number of sensors are retained to reduce energy consumption. For example, ultrasonic sensors, millimeter-wave radar, and lidar sensors can be turned off. Alternatively, the camera with the vehicle's main field of view can be retained, while the remaining cameras are turned off for use in sentry mode; for example, four surround-view cameras can be retained.

[0086] For example, board-level power supply can be provided to the first controller 110, and unused hardware modules can be powered off to reduce board-level power consumption. Another example is implementing resource management for used hardware modules to reduce power consumption in sentry mode.

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

[0088] In autonomous driving mode, all the above units operate normally. When the control device 200 enters sentry mode, it can perform at least one of the following operations to further save power: power off some hardware resources; reduce the consumption of some hardware resources, such as reducing memory, CPU computing power, NPU computing power, or one or more other hardware resources, thereby limiting hardware performance and further reducing the power consumption of sentry mode; switch the running software system. Compared to the software system in autonomous driving mode, the software system in sentry mode can be customized and its functions can be tailored, retaining only the functions of abnormal event perception, alarm, and perception data (such as video or image data) storage under sentry mode operation. For ease of description, the software system in sentry mode can be referred to as an always-on (AON) system. This name is only used for the convenience of describing the system and is not intended to limit the implementation of the system.

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

[0090] Table 1

[0091]

[0092]

[0093] Please refer to Figure 3 This is a flowchart of a control method provided in an embodiment of this application. Figure 3 As shown, the control method includes:

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

[0095] S320: Based on the first signaling, resource configuration is performed.

[0096] The configured and running resources can include hardware and software resources, and are matched with the first operating mode. This resource configuration may include, for example, one or more of the above-mentioned hardware resource configurations; it may also include the above-mentioned software resource configurations. For example, in the first operating mode, the control device 200 may power down some hardware to save power. For example, powering down the CPU. Or, reducing the consumption of some hardware resources, for example, retaining one CPU core and powering off the rest. Another example is controlling the NPU to operate at a lower frequency and voltage, and / or retaining some NPU computing cores and powering off the rest. Yet another example is retaining one or some of the DDR channels, and / or controlling the DDR to operate at a lower frequency and voltage. Yet another example is retaining some ISP cores (e.g., one ISP core) and powering off the rest. Yet another example is controlling the video processing unit to operate at a lower frequency and voltage. In this way, low-power management of the first operating mode can be achieved by limiting the operating power consumption of the hardware resources in the control device.

[0097] The software system for Sentinel mode differs from that for autonomous driving mode, and the memory resources used by the two systems also differ. For example, Sentinel mode uses one DDR channel, while autonomous driving mode uses four DDR channels. This application provides a control method that, upon entering the first operating mode, can configure the memory to reduce memory power consumption and enable faster startup of Sentinel mode, reducing latency in entering Sentinel mode. Furthermore, this configuration allows for a faster return to autonomous driving mode upon exiting Sentinel mode. The following description is in conjunction with the accompanying drawings:

[0098] Please refer to Figure 4 This is a flowchart illustrating another control method provided in this application embodiment. For example... Figure 4 As shown, the method includes:

[0099] S410: Receive the first signaling, the first signaling is used to indicate a request for the vehicle to enter the first working mode, the first working mode is used for the safety protection of the vehicle in the non-use state;

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

[0101] 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. The data in the second memory space is backed up, and the second storage controller of the second memory space is kept on.

[0102] S430: Controls the operation of the first system in the first working mode using the second memory space as system memory, and controls the second system in the second working mode to enter hibernation state.

[0103] With the above-described first memory configuration, in the first operating mode, only a portion of the memory space (the second memory space) is reserved for the first system operation in the first operating mode, while the remaining memory space (the first memory space) enters a self-refresh state to save memory power consumption. Taking a 4-channel DDR memory space as an example, the memory space corresponding to 3 of the DDR channels is designated as the first memory space, and the memory space corresponding to the remaining 1 DDR channel is designated as the second memory space. When entering the first operating mode, the first system accesses the second memory space through the remaining 1 DDR channel, while the 3 DDR channels are powered down to save power. The backup of the contents of the second memory space and the self-refresh of the first memory space facilitate data recovery in the second operating mode.

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

[0105] When exiting the first working mode, please refer to... Figure 5 This is a flowchart illustrating yet another control method provided in the embodiments of this application. For example... Figure 5 As shown, the control method also includes:

[0106] S510: Receive second signaling; the second signaling is used to indicate a request for the vehicle to exit the first working mode, or the second signaling 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 being the usage state of the vehicle.

[0107] S520: Performs second memory configuration based on second signaling.

[0108] The second memory configuration includes: reading the backed-up 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 saving it back to the second memory space.

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

[0110] This allows the vehicle to return to the state it was in when it exited the first operating mode and continue operating in the first operating mode. The second signaling is generated based on a request from the vehicle to exit the first operating mode, or based on a request from the vehicle to switch from the first operating mode to the second operating mode. The second operating mode is, for example, an automatic driving mode, or it may be used to assist or control the vehicle's movement while it is in use.

[0111] The startup process for autonomous driving mode can take a relatively long time. By using the methods described above, you can quickly switch to autonomous driving mode when exiting sentry mode, reducing the startup delay of 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 other memory channels are powered down and enter a self-refresh state. One memory channel can meet the memory requirements of the sentinel mode and further reduce power consumption in the first operating mode.

[0113] For example, please refer to Figure 6 This is a schematic diagram illustrating the switching of a memory channel from a second operating mode to a first operating mode, as provided in an embodiment of this application. The diagram uses DDR memory as an example for description. Figure 6 As shown, the memory of the autonomous driving domain controller includes four memory channels, each controlled by a DDR controller (DDRC) 1-4, with each DDRC corresponding to one DDR channel. In the second operating mode, DDRC1-4 are powered on, and the DDR space corresponding to DDRC1 reserves the second memory space for the first operating mode. When switching to the first operating mode, the data in the second memory space is backed up, DDRC2-4 are powered down (channels are shut down), and DDRC1 operates normally or at reduced frequency and voltage. In some embodiments, the data in the second memory space can be backed up to 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, data from the second memory space can also be backed up to other memory spaces. This can further reduce the latency of switching operating modes. For example, please refer to... Figure 7 This is a schematic diagram illustrating another memory channel switching from a second working mode to a first working mode, provided in an embodiment of this application. Figure 6 The difference in the illustrated embodiment is that space is reserved in the memory corresponding to any of the DDRC2-4 memory channels (e.g., DDRC2) for backing up data in the second memory space. See also... Figure 8 This is a schematic diagram illustrating another instance of a memory channel switching from a second working mode to a first working mode, provided in an embodiment of this application. Figure 7 The difference in the illustrated embodiment is that space is reserved in the memory corresponding to the DDRC2-4 memory channel 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 space reserved in other memory. This reduces the time spent accessing external memory and lowers the switching latency between the first and second operating modes.

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

[0116] The following description uses the MCU performing memory configuration as an example.

[0117] Please refer to Figure 9 This is an interactive flowchart of a control method provided in an embodiment of this application. Figure 9 As shown. When the conditions for entering the first operating mode are met, the CPU receives the first signaling. This condition can be triggered by the user or by the vehicle itself. For example, when the vehicle is not in motion, it can actively trigger entry into the first operating mode. For instance, when the user turns off the vehicle power or removes the vehicle key, the vehicle system can automatically generate a request to enter the first operating mode. This 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. Alternatively, the vehicle can enter the first operating mode based on a user request. The user can request entry into the first operating mode using the human-machine interface provided by the cockpit domain, such as through buttons, touch, voice commands, or gesture commands. The cockpit domain controller, based on the user's request, sends the request to the autonomous driving domain controller to enter the first operating mode. Another example is that the user can use a mobile phone, watch, or other user terminal to send a request to the vehicle's communication device to enter the first operating mode, and the communication device then sends the request to the autonomous driving domain controller.

[0118] Since the autonomous driving domain controller is crucial to vehicle safety, safety circuits can be used to control access to the autonomous driving domain controller to enhance safety. Here, a functional safety island (FSI) is used as an example, but this application is not limited to this; other safety chips or circuits can also be used. After receiving an access request, the FSI's operating system (OS) clears its current tasks and sends a first signaling instruction to the CPU; then, the FSI enters an idle state. The CPU receives the first signaling instruction, and its operating system clears its current tasks, preparing to switch from the second operating mode to the first operating mode. The CPU saves the context data (e.g., including context data or hardware status data) and runs the mode switching program. For example, the context data is saved to DDR; then, it jumps to the static random-access memory (SRAM) code to run the mode switching program. The CPU and MCU handshake, instructing the MCU to perform the 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 instruction message to the MCP to instruct the MCU to perform the first memory configuration. The MCU receives the first instruction message and performs the first memory configuration. For example, changing the bus's interleaving mode to single-channel mode controls the first memory space in the main memory to enter a self-refresh state, powering down the corresponding memory controller; the data in the second memory space is backed up. The MCU configures the operating mode flag to the first value and then triggers CPU wake-up. The CPU is woken up and reads the operating mode flag, confirms entry into the first operating mode, executes the first operating mode startup program, and notifies the FSI of entry into the first operating mode. After the FSI updates its status record, it enters the WFI state.

[0119] When the conditions for exiting the first operating mode (switching back to the first operating mode from the second operating mode) are met, the CPU receives the second signaling. Similarly, this condition can be triggered by the user or by the vehicle itself. For example, when the vehicle is in motion, it can actively trigger the exit from the first operating mode (or enter the second operating mode). For instance, when the user turns on the vehicle power or inserts the vehicle key, the vehicle system can automatically generate a request to enter the second operating mode. This 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. Alternatively, the vehicle can enter the second operating mode based on a user request. The user can request to enter the second operating mode using the human-machine interface provided by the cockpit domain, such as through buttons, touch, voice commands, or gesture commands. The cockpit domain controller, based on the user's request, sends the request to enter the second operating mode to the autonomous driving domain controller. Another example is that the user can use a mobile phone, watch, or other user terminal to send a request to the vehicle's communication device to enter the second operating mode, and the communication device then sends the request to the autonomous driving domain controller.

[0120] Please continue to refer to this. Figure 9 When switching back to the first operating mode from the second operating mode, the FSI receives an exit request and sends a second signaling instruction to the CPU. The CPU receives the second signaling instruction. The CPU's operating system clears the current task, preparing to switch from the first operating mode to the second operating mode. For example, the CPU jumps to the SRAM code execution mode switching program. The CPU and MCU handshake, with the CPU sending a second instruction to the MCU, entering a WFI state, such as a sleep state. The MCU then configures the second memory, for example, reading backup data and rewriting it back to the second memory space, powering on the DDRC of the first memory space, completing DDRC initialization, and configuring the corresponding DDR of the first memory space to exit the self-refresh state. The MCU configures the operating mode flag to the second value, waking up the CPU; the CPU reads the operating mode flag, confirms entry into the second operating mode, and executes the breakpoint recovery process. After completing the breakpoint recovery process, the CPU processor runs the second system.

[0121] The first system can be run by the MCU. For example, the MCU loads the first system image in the first operating mode into the reserved space (i.e., the second memory space) for operation.

[0122] Because the first memory space is in a self-refreshing 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. The amount of data in the second memory space is relatively small, so it can be restored more quickly. The memory is restored to the state when the second system entered hibernation, so the CPU can be woken up quickly and the operation of the second working mode can be resumed more quickly, reducing the latency of working mode switching and improving the user experience.

[0123] Based on similar technical concepts, embodiments of this application also provide a control method, including at least one step executed by the MCU described above. For example, the control method includes: receiving first indication information, the first indication information being used to indicate a request for a vehicle to enter a first operating mode, the first operating mode being used for safety protection of the vehicle in a non-use state; based on the first indication information, 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 the data in the second memory space and controlling the second storage controller of the second memory space to remain on; and using the second memory space as system memory to control the operation of the first system in the first operating mode.

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

[0125] Optionally, the above control method further includes: receiving second instruction information, the second instruction information being used to instruct the vehicle to exit the first working mode, or the second instruction information being used to instruct the vehicle to switch from the first working mode to the second working mode, the second working mode being used for the vehicle's operating state; based on the second instruction information, performing a second memory configuration, including: reading 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 start.

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

[0127] Based on similar technical concepts, embodiments of this application also provide a control method, including at least one step executed by the CPU described above. For example, it includes: receiving a first signaling instruction, the first signaling instruction being used to instruct a vehicle to enter a first operating mode, the first operating mode being used for safety protection of the vehicle in a non-use state; based on the first signaling instruction, generating first indication information, the first indication information being used to trigger a first memory configuration, the first memory configuration including: a first memory space entering a self-refresh state, a first storage controller of the first memory space entering a closed state; and data in a second memory space being backed up, a second storage controller of the second memory space remaining open; and controlling a second system in the second operating mode to enter a hibernation state.

[0128] Optionally, the above control method further includes: receiving a second signaling message, the second signaling message being used to instruct the vehicle to exit the first operating mode or to instruct the vehicle to switch from the first operating mode to the second operating mode, the second operating mode being used for the vehicle's operating state; generating second indication information based on the second signaling message, the second indication information being used to trigger a second memory configuration, the second memory configuration including: the backed-up data being re-saved to the first memory space; and the first memory space exiting the self-refresh state and the first storage controller being in the enabled state; and waking up the second system in the second operating mode.

[0129] Based on similar technical concepts, embodiments of this application also provide a control device, including a unit or means for performing any of the control method steps described above.

[0130] For example, please refer to Figure 10 This is a structural block diagram of a control device provided in an embodiment of this 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 a second system in a second operating mode to enter a hibernation state.

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

[0132] The descriptions of the first signaling, second signaling, first memory configuration, second memory configuration, etc., are as described in the above method embodiments.

[0133] The above division of units is only a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. For example, interface unit 1010 may include interface circuitry. Configuration unit 1020 may include a processor, such as an MCU or CPU. First control unit 1030 may include a processor, such as an MCU or CPU, and second control unit may include a processor, such as a CPU.

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

[0135] It is evident that by employing any of the above control methods or devices, the power consumption of vehicles and other transport vehicles in sentry mode can be reduced, thereby expanding the application scope of sentry mode.

[0136] When Sentinel mode is running, it senses the environment around the vehicle and determines whether there are any abnormal events based on the sensed data, such as unauthorized vehicle intrusion, collisions, scratches, or accidental contact with pedestrians or animals. Furthermore, it can issue alerts and record information when an abnormal event is detected. However, the current recording method starts recording only when an abnormal event is triggered, which may lead to the loss of critical information. For example, data from a period of time before the abnormal event may not be recorded, leaving users without crucial information when reviewing the abnormal event.

[0137] Based on this, in some embodiments of this application, the data sensed by the sensor is processed in two paths: 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. Since data caching is not triggered by the occurrence of an abnormal event but is performed synchronously, the cached data likely includes data from a period of time prior to the occurrence of the abnormal event, reducing the probability of losing critical information 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 (e.g., ISP) for image signal processing. The processed image data is divided into two paths. The first path is sent to the processing unit 230 (e.g., NPU) for visual fusion / perception computation to monitor the vehicle's surrounding environment through visual perception. The second path is sent to memory space B, for example, it can be cached in memory space B after video encoding by a 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 cached image data 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 to it. 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 still other embodiments, the control device 200 sends the cached image data to a communication device, which then sends it to a server for transfer (e.g., cloud storage). In yet another embodiment, the control device 200 sends the cached image data to the second controller 120, which then sends it to a server via a communication device for transfer. These transfer methods can be combined; for example, in sentry mode, the control device 200 caches the image data to a local external storage device, and after exiting sentry mode, sends the transferred image data to the server via a communication device. This saves power consumption for data forwarding in sentry mode. For example, the control device 200 caches the image data in a local external storage device. When a user receives an alarm instruction, they can request the transferred image data from the server or the vehicle. At this time, the vehicle sends the transferred image data to the user terminal or the server based on the request from the user terminal or the server.

[0140] Space B can be, for example, a ring buffer. This allows for periodic updates of the sensing data based on the buffer depth, while sensing data corresponding to abnormal events is stored separately and unaffected by these periodic updates. This conserves memory resources, meeting the requirements for recording abnormal events in sentinel mode with lower resource consumption. The buffer depth can be configured or pre-set. For example, the buffer depth can be pre-configured as a parameter in the control device, and the memory controller of the control device allocates buffer space as a ring buffer for sentinel mode based on this parameter. Alternatively, the buffer depth can be reconfigured by the user, who can configure it according to the desired video length. For example, a configuration interface can be provided to the user through the cockpit's human-machine interface or a user terminal (e.g., mobile phone, watch, or tablet). The user inputs configuration parameters, such as the length of the video to be recorded, and the system automatically converts these parameters into parameters corresponding to the buffer depth and sends them to the control device. The memory controller of the control device allocates buffer space as a ring buffer for sentinel mode based on these parameters. This application does not limit the size of the buffer depth and can be flexibly configured according to the length of the video to be recorded. For example, if you want to record data within 30 seconds of an abnormal event, the cache depth can be configured to store at least 30 seconds of data.

[0141] Based on the above embodiments, the data flow control and scheduling process in Sentinel mode can be executed by a processor running the AON system, such as a CPU or MCU. Using an MCU can further reduce power consumption in Sentinel mode. The MCU can run a lightweight real-time operating system (RTOS) to reduce the software's consumption of hardware resources, thereby shutting down or reducing hardware resources and further reducing power consumption.

[0142] Based on similar technical concepts, embodiments of this application also provide a controller, which includes at least one processor for executing any of the control methods described above. This 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). Domain controllers may include, for example, a vehicle domain controller (VDC), a cockpit domain controller (CDC), or an automated driving domain controller (ADC).

[0143] Based on similar technical concepts, embodiments of this application also provide a means of transportation, which may include, for example, vehicles, ships, or aircraft (such as flying vehicles or drones).

[0144] Based on similar technical concepts, embodiments of this application also provide a computer storage medium, including signaling stored thereon, wherein when the signaling is invoked by a processor, any of the control methods in the above embodiments are executed.

[0145] Based on similar technical concepts, embodiments of this application also provide a computer program product, including signaling, which, when invoked by a processor, executes any of the control methods described in the above embodiments.

[0146] In the above embodiments, the descriptions of each embodiment have their own emphasis. Parts not described in detail or in a particular embodiment can be referred to in the relevant descriptions of other embodiments. Furthermore, the above embodiments can be freely combined as needed.

Claims

1. A control method, characterized in that, include: Receive a first signaling message, the first signaling message being used to indicate a request for the vehicle to enter a first operating mode, the first operating mode being used for the safety protection of the vehicle in a non-use state; Based on the first signaling, perform the first memory configuration, including: The data in the second memory space is backed up, and the second storage controller of the second memory space is kept on while the second memory space is powered on; and The system controls the first memory space to enter a self-refresh state and controls the first storage controller of the first memory space to shut down. The first storage controller and the second storage controller control the power-on state of the first memory space and the second memory space, respectively. The first system image of the first working mode is loaded into the second memory space, and the second memory space is used as the system memory to control the operation of the first system in the first working mode; and the second system in the second working mode is controlled to enter a hibernation state. Receive a second signaling message, the second signaling message being used to indicate a request for the vehicle to exit the first operating mode, or the second signaling message being used to indicate a request for the vehicle to switch from the first operating mode to the second operating mode, the second operating mode being used for the operating state of the vehicle; Based on the second signaling, a second memory configuration is performed, including: Read the backed-up data and save the data to the second memory space; and Control the first memory space to exit the self-refresh state and control the first storage controller to start; Restore the operation of the second system in the second working mode, wherein the second system uses the first memory space and the second memory space as system memory.

2. The control method according to claim 1, characterized in that, The step of backing up the data in the second memory space includes: Back up the data in the second memory space to non-volatile memory; The reading of the backup data includes: reading the backup data from the non-volatile memory.

3. The control method according to claim 1, characterized in that, The second operating mode is used to assist or control the movement of the vehicle in the operating state.

4. The control method according to claim 1, characterized in that, The first memory space includes multiple memory channels, and the second memory space includes a subspace of a single memory channel.

5. The control method according to claim 1, characterized in that, Also includes: Based on the first signaling, a first processing resource configuration is performed, which includes one or all of the following: Power off the CPU or retain one CPU core; Control the neural network processor to operate at reduced frequency and voltage; Retain some neural network processor computing cores; Retain a portion of the image signal processor core; Control the video processing unit to reduce frequency and voltage.

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

7. A control method, characterized in that, include: Receive first instruction information, the first instruction information being used to instruct the vehicle to enter a first working mode, the first working mode being used for the safety protection of the vehicle in a non-use state; Based on the first indication information, perform the first memory configuration, including: The data in the second memory space is backed up, and the second storage controller of the second memory space is kept on while the second memory space is powered on; and The system controls the first memory space to enter a self-refresh state and controls the first storage controller of the first memory space to shut down. The first storage controller and the second storage controller control the power-on state of the first memory space and the second memory space, respectively. The first system image of the first working mode is loaded into the second memory space, and the second memory space is used as the system memory to control the operation of the first system in the first working mode. Receive a second instruction message, the second instruction message being used to instruct the vehicle to exit the first working mode, or the second instruction message being used to instruct the vehicle to switch from the first working mode to the second working mode, the second working mode being used for the vehicle's operating state; based on the second instruction message, perform 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 start.

8. A control method, characterized in that, include: Receive a first signaling message, the first signaling message being used to indicate a request for the vehicle to enter a first operating mode, the first operating mode being used for the safety protection of the vehicle in a non-use state; Based on the first signaling, a first indication is generated. The first indication is used to trigger a first memory configuration. The first memory configuration includes: the data of the second memory space is backed up, the second storage controller of the second memory space remains on, and the second memory space is powered on; and the first memory space enters a self-refresh state, the first storage controller of the first memory space enters a closed state, and the first storage controller and the second storage controller respectively control the power-on state of the first memory space and the second memory space. The second system, controlling the second operating mode, enters a hibernation state; The system receives a second signaling instruction, which is used to instruct the vehicle to exit the first operating mode or to instruct the vehicle to switch from the first operating mode to the second operating mode, where the second operating mode is the usage state of the vehicle. Based on the second signaling instruction, the system generates second indication information, which is used to trigger a second memory configuration. The second memory configuration includes: reading the backed-up 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; waking up the second system in the second operating mode; the second system uses the first memory space and the second memory space as system memory.

9. A control device, characterized in that, include: 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 the safety protection of the vehicle in a non-use state; The configuration unit is configured to perform a first memory configuration based on the first signaling. The first memory configuration includes: backing up the data in the second memory space; keeping the second storage controller of the second memory space on; and powering on the second memory space. The first memory space enters a self-refresh state, and the first storage controller of the first memory space enters a closed state. The first storage controller and the second storage controller respectively control the power-on state of the first memory space and the second memory space. The first control unit is configured to load the first system image of the first working mode into the second memory space, and use the second memory space as system memory to control the operation of the first system in the first working mode. The second control unit is configured to control the second system in the second operating mode to enter a sleep state; The interface unit is further configured to 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, the second operating mode being the usage state of the vehicle. The configuration unit is further configured to perform a second memory configuration based on the second signaling; the second memory configuration includes: 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 start. The second control unit is also configured to restore the operation of the second system in the second operating mode, the second system using the first memory space and the second memory space as system memory.

10. A control device, characterized in that, It includes at least one processor, which is configured to perform the control method as described in any one of claims 1-8.

11. A controller, characterized in that, It includes the control device and memory as described in claim 9 or 10, the memory including the first memory space and the second memory space, the first memory space being in a self-refreshing state in the first operating mode, and the second memory space being used as system memory in the first operating mode.

12. A vehicle, characterized in that, Includes the control device as described in claim 9 or 10.

13. A computer storage medium, characterized in that, Includes signaling stored thereon, which, when invoked by the processor, enables the control method as described in any one of claims 1-8 to be executed.

Images