Control method of vehicle-mounted terminal, vehicle-mounted terminal and storage medium

Abstract

The invention discloses a control method of a vehicle-mounted terminal, the vehicle-mounted terminal and a storage medium, and relates to the technical field of vehicle control, the control method of the vehicle-mounted terminal comprises the following steps: in response to streaming data received by a processing module, based on the data type of the streaming data, determining a security event rule associated with the data type; if the stream data accords with the security event rule, judging that a security event corresponding to the security event rule is triggered; and storing the sensor data corresponding to the security event rule. The technical problem that an existing vehicle-mounted terminal cannot adapt to fault event judgment requirements caused by diversified user-defined scene requirements is solved, and the technical effect of recording key events, except for time period events and timestamp events, of the vehicle through diversified triggering ways is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a control method of a vehicle terminal, a vehicle terminal and a storage medium. BACKGROUND

[0002] According to the requirements of the national standard GB44497 "Intelligent Networked Vehicle Automatic Driving Data Recording System", the traditional vehicle terminal mainly records the following two events: time period event: when the trigger condition is met, the event is recorded around the event starting point, and the relevant vehicle sensor data in a period of time before and after the event starting point is recorded. Event such as collision or collision risk. Time stamp event: when the trigger condition is met, only the relevant sensor data at the event starting point is recorded. Including entering the active state, exiting, issuing an intervention request, starting to execute the minimum risk strategy, etc.

[0003] However, with the continuous enrichment of automatic driving scenarios, the existing vehicle terminal cannot adapt to the fault event judgment requirements brought by diversified custom scenario needs. SUMMARY

[0004] The main purpose of the present application is to provide a control method of a vehicle terminal, a vehicle terminal and a storage medium, which aims to solve the technical problem that the existing vehicle terminal cannot adapt to the fault event judgment requirements brought by diversified custom scenario needs.

[0005] To achieve the above-mentioned purpose, the present application provides a vehicle terminal, which comprises a power management module, a CAN module, an Ethernet module, a communication module, a positioning module, an inertial measurement module and a processing module.

[0006] In an embodiment, the processing module comprises a first core, a second core and a third core; The first core is used for processing CAN data sent by the CAN module or Ethernet data sent by the Ethernet module, and the Ethernet module is in communication connection with the communication module; The second core is used for processing inertial data sent by the inertial measurement module; The third core is used for storing drive control logic.

[0007] In an embodiment, the power management module is connected with the IO of the processing module, and the power management module is connected with a vehicle power supply and a battery pack.

[0008] To achieve the above-mentioned purpose, the present application provides a control method of a vehicle terminal, which comprises: In response to the stream data received by the processing module, based on the data type of the stream data, the safety event rule associated with the data type is determined; if the stream data meets the safety event rule, determining to trigger a safety event corresponding to the safety event rule; storing sensor data corresponding to the safety event rule.

[0009] In an embodiment, the step of determining the safety event rule associated with the data type of the stream data based on the data type of the stream data is applied to the nth data collection cycle, and comprises: if the stream data does not meet the safety event rule, determining whether the data type is a set data type; if the data type is not the set data type, returning to execute the step of determining the safety event rule associated with the data type of the stream data based on the data type of the stream data received by the response processing module; if the data type is the set data type, entering the n+1th data collection cycle.

[0010] In an embodiment, the step of determining the safety event rule associated with the data type of the stream data based on the data type of the stream data comprises: if the data type is CAN data, determining the safety event rule to be at least one of: a CAN ID period of the CAN data does not meet a set period threshold; a CAN ID and corresponding field of the CAN data do not match a preset message field; a CAN network load of the CAN data is greater than a load threshold.

[0011] In an embodiment, the step of determining the safety event rule associated with the data type of the stream data based on the data type of the stream data comprises: if the data type is inertial data, determining the safety event rule to be at least one of: a vehicle lateral speed determined according to the inertial data is greater than a lateral speed threshold; a vehicle acceleration determined according to the inertial data is greater than an acceleration threshold; a vehicle speed determined according to the inertial data is greater than a set speed threshold; a vehicle attitude inclination determined according to the inertial data is greater than an inclination threshold; a left-right shaking amplitude of the vehicle determined according to the inertial data is greater than a shaking threshold; a turning radius of the vehicle determined according to the inertial data is greater than a radius threshold.

[0012] In an embodiment, the step of determining the safety event rule associated with the data type of the stream data based on the data type of the stream data comprises: if the data type is power supply data, determining the safety event rule as at least one of: a power supply of the vehicle stops supplying power; a battery pack supplies power.

[0013] In an embodiment, the step of determining the safety event rule associated with the data type of the flow data based on the data type of the flow data comprises: if the data type is Ethernet data, determining the safety event rule as a network total flow determined according to the Ethernet data exceeding a bandwidth threshold of a designed bandwidth.

[0014] In addition, to achieve the above object, the present application also provides a storage medium, which is a computer readable storage medium, and a program for implementing the control method of the vehicle terminal is stored on the computer readable storage medium, and the program for implementing the control method of the vehicle terminal is executed by a processor to implement the steps of the control method of the vehicle terminal as described above.

[0015] The present application provides a control method of a vehicle terminal. The present application first determines a safety event rule associated with the data type of flow data based on the data type of the flow data in response to the flow data received by a processing module. If the flow data meets the safety event rule, it is determined that a safety event corresponding to the safety event rule is triggered. The sensor data corresponding to the safety event rule is saved. That is, the present application sets a safety event rule for each type of flow data, then traverses each type of flow data in a data acquisition period, and then determines whether a safety event rule is triggered and stores the corresponding sensor data, thereby solving the technical problem that the existing vehicle terminal cannot adapt to the fault event determination demand of diversified custom scenarios, and achieving the technical effect of recording key events of a vehicle in addition to time period events and time stamp events through diversified triggering approaches. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and serve to explain the principles of the present application together with the specification.

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0018] Figure 1 a hardware schematic diagram of the vehicle terminal provided by Embodiment One of the present application; Figure 2A flowchart provided for the second embodiment of the control method of the vehicle terminal of the present application is shown in the figure. Figure 3 A flowchart provided for one data collection period in the third embodiment of the control method of the vehicle terminal of the present application is shown in the figure. Figure 4 A schematic diagram of the hardware system architecture involved in the embodiment of the vehicle terminal of the present application is shown in the figure.

[0019] Label explanation: 101, power management module; 102, vehicle power supply; 103, nickel-hydrogen battery pack; 104, inertial measurement module; 105, data storage module; 106, processing module; 107, CAN module; 108, Ethernet module; 109, satellite positioning module; 110, shared memory module; 111, data encryption module; 112, 5G communication module.

[0020] The purpose of the present application, the functional features and advantages will be further explained in conjunction with the embodiments, with reference to the accompanying drawings. DETAILED DESCRIPTION

[0021] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and do not limit the present application.

[0022] In order to better understand the technical solutions of the present application, the specific embodiments will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] At present, according to the requirements of the national standard GB44497 "Intelligent Networked Vehicle Automatic Driving Data Recording System", the traditional vehicle terminal mainly records the following two events: time period event: when the trigger condition is met, the event is recorded around the event starting point, and the relevant vehicle sensor data in a period of time before and after the event starting point is recorded. Event. Such as the event when a collision or collision risk occurs. Time stamp event: when the trigger condition is met, only the relevant sensor data at the event starting point is recorded. Including entering the active state, exiting, issuing an intervention request, starting to execute the minimum risk strategy, etc. However, with the continuous enrichment of automatic driving scenarios, the existing vehicle terminal cannot adapt to the fault event judgment needs brought by the diversification of custom scenario needs.

[0024] The main solution of this application is: in response to the stream data received by the processing module, based on the data type of the stream data, determine the security event rules associated with the data type; if the stream data meets the security event rules, determine to trigger the security event corresponding to the security event rules; and save the sensor data corresponding to the security event rules. That is, this application sets security event rules for each data type of stream data, and then traverses various types of stream data once during the data acquisition cycle to determine whether the security event rules are triggered, and stores the corresponding sensor data. This solves the technical problem that the existing vehicle-mounted terminals cannot adapt to the fault event determination requirements brought about by the diverse custom scenario requirements, and achieves the technical effect of recording key events of the vehicle other than time period events and timestamp events through diverse triggering methods.

[0025] It should be noted that the execution subject of this embodiment can be an in-vehicle terminal, or a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, mobile phone, etc., or a control device for an in-vehicle terminal capable of performing the above functions, etc. This embodiment does not specifically limit this. The following uses the in-vehicle terminal as an example to illustrate this embodiment and the following embodiments.

[0026] Based on this, the first embodiment of the present application proposes an in-vehicle terminal, which includes: a power management module, a CAN module, an Ethernet module, a communication module, a positioning module, an inertial measurement module and a processing module.

[0027] Furthermore, the power management module is connected to the processing module 10, and the power management module is connected to the vehicle power supply and the battery pack.

[0028] In this embodiment, the vehicle-mounted terminal includes a power management module, a CAN module, an Ethernet module, a communication module, a positioning module, an inertial measurement module, a processing module and a non-volatile data storage unit; among them, the power management module is responsible for power supply management and switching, the CAN module is responsible for CAN network monitoring and data transmission and reception, the Ethernet module is responsible for Ethernet status monitoring and gateway functions, the communication module is responsible for wireless data transmission, the positioning module is responsible for providing position, speed and timing information, the inertial measurement module is responsible for providing acceleration and angular velocity data, the processing module is responsible for data processing and security event triggering control, and the non-volatile data storage unit is responsible for data storage.

[0029] As an optional implementation, the power management module is connected with the vehicle power supply and the nickel-hydrogen battery pack, and communicates with the processing module through an IO interface; the CAN module is connected with the processing module through an asynchronous serial port, supports 8-way CAN message listening and classic CAN and CANFD protocols; the Ethernet module is connected with the processing module through an RGMII interface, and has 8 physical Ethernet interfaces; the communication module is a 5G communication module, which is connected with the Ethernet module through an SGMII interface; the positioning module is a satellite positioning module, which can provide a world coordinated time timestamp; the inertial measurement module can output acceleration and angular velocity; the processing module is a processing module, which includes an internal shared memory unit and an internal data encryption unit; the non-volatile data storage unit is connected with the processing module through an SDIO interface.

[0030] As another optional implementation, the power management module automatically switches to nickel-hydrogen battery power supply when the main power supply is abnormal; the CAN module acts as a CAN listener and does not reply to network messages, without occupying CAN bandwidth; the Ethernet module supports time-sensitive network functions and IEEE802.3Qav protocols based on a credit shaper; the communication module can periodically upload stored data to a cloud platform; the positioning module cooperates with the inertial measurement module and the processing module to calculate the vehicle attitude; different cores of the processing module are respectively responsible for CAN listening, attitude calculation and other tasks; the non-volatile data storage unit cooperates with the processing module to complete data encryption and storage.

[0031] In this embodiment, the safety event 1 is triggered by the vehicle external domain control through the CAN module or the Ethernet module to notify the processing module, and the processing module retains the corresponding sensor data according to the preset conditions; wherein the external domain control refers to an intelligent driving domain controller outside the vehicle, which is responsible for determining the scene triggering the safety event 1.

[0032] As an optional implementation, the external domain control sends a trigger signal to the processing module through the CAN module, and the processing module immediately calls a preset algorithm to filter and retain the sensor data of the camera, radar and other devices related to the scene after receiving the signal.

[0033] As another optional implementation, the external domain control sends a trigger instruction to the processing module through the Ethernet module, and the processing module retains the real-time data of the laser radar, ultrasonic sensor and other devices according to the preset rules after receiving the instruction.

[0034] In this embodiment, the safety event 2 is triggered when the CAN module and the core 1 of the processing module monitor the CAN network exception, and the processing module records the related sensor data according to the preset scheme; wherein the CAN listener is a probe point connected to the CAN network, which does not reply to network messages and does not occupy CAN bandwidth, and can monitor the CAN ID period, message field and network load.

[0035] As an optional embodiment, the CAN listener monitors the period of the preset CAN ID through the 1us precision timer, and triggers the safety event 2 when the period does not conform to the set threshold, and the processing module records the sensor data of the vehicle power system and the steering system.

[0036] As another optional embodiment, the CAN listener compares the message field of the monitored CAN ID with the preset field, or estimates the network load by monitoring the number of messages in the period T, and triggers the safety event 2 when the field does not conform or the load exceeds 80%, and the processing module records the sensor data of the chassis system and the braking system.

[0037] In this embodiment, the safety event 3 is triggered when the vehicle special posture is determined by the attitude measurer composed of the inertial measurement module, the positioning module and the processing module core 2, and the processing module records the corresponding sensor state according to the preset operation; wherein the special posture includes that the vehicle lateral speed, acceleration, driving speed, posture inclination, shaking amplitude and turning radius exceed the set threshold, and the attitude measurer calculates the current posture and trend of the vehicle through Kalman filtering algorithm.

[0038] As an optional embodiment, the positioning module provides the initial speed and heading angle of the vehicle, the inertial measurement module provides the acceleration and angular velocity, and the processing module core 2 runs the Kalman filtering algorithm, and when the calculated vehicle lateral speed exceeds the threshold, the safety event 3 is triggered, and the data of the vehicle ESP system and the steering angle sensor are recorded.

[0039] As another optional embodiment, the attitude measurer estimates the posture change trend through the algorithm, and when the vehicle acceleration, inclination or turning radius exceeds the set threshold, the safety event 3 is triggered, and the processing module records the real-time data of the vehicle body acceleration sensor and the gyroscope.

[0040] In this embodiment, the safety event 4 is triggered when the power management module detects the loss of the main power supply, the processing module records the corresponding sensor state, and the terminal continues to record the vehicle state after the event; wherein the main power supply refers to the external power supply of the vehicle, and the power management module switches to the nickel-hydrogen battery power supply when the main power supply voltage is below the threshold, and notifies the processing module.

[0041] As an optional embodiment, the power management module monitors the voltage of the vehicle external power supply in real time, and when the voltage drops below the threshold, it immediately switches to the internal nickel-hydrogen battery power supply, and at the same time notifies the processing module through the IO interface, triggers the safety event 4, and the processing module records the state data of the battery management system and the power distribution unit, and continuously records the vehicle position and speed information within 5 seconds after the event.

[0042] As another optional embodiment, when the vehicle is in collision and the main power supply is disconnected, the power management module quickly switches to the nickel-hydrogen battery power supply, sends a trigger signal to the processing module, and the processing module starts the safety event 4 recording mode to record the vehicle body posture, braking state and other data at the moment of collision and after the collision.

[0043] In this embodiment, the safety event 5 is triggered when the gateway management unit composed of the Ethernet module and the processing module detects Ethernet exception. The processing module records the relevant sensor data and Ethernet message; wherein, the Ethernet exception refers to the total network traffic exceeding 80% of the designed bandwidth, and the gateway management unit supports time-sensitive network function, which can guarantee the bandwidth of high-priority MAC data packets.

[0044] As an optional embodiment, the gateway management unit monitors the traffic of each entity Ethernet interface in real time. When the traffic of a certain interface exceeds 80% of the designed bandwidth, the safety event 5 is triggered, and the processing module records the Ethernet message of the vehicle entertainment system and the autonomous driving domain, as well as the sensor data of the camera and millimeter wave radar.

[0045] As another optional embodiment, when the Ethernet module detects that the total network traffic exceeds the threshold, the safety event 5 is triggered, and at the same time, the gateway management unit transmits high-priority MAC data packets preferentially through the credit shaper, and the processing module records the data flow distribution and the state data of each domain controller when the network is congested.

[0046] In this embodiment, the recorded data of the vehicle terminal is encrypted by the internal data encryption unit of the processing module and stored in the non-volatile data storage unit. The communication module can upload the encrypted data to the cloud monitoring platform; wherein, the non-volatile data storage unit is used for long-term data storage, SM1 encryption is used for data encryption, and SHA-1 digital signature is used to ensure that the data cannot be tampered with.

[0047] As an optional embodiment, the recorded data enters the internal data encryption unit of the processing module in the form of time period data packet, is encrypted by SM1, and then is digitally signed and authenticated by SHA-1 key. The signature and data packet are combined and stored in the non-volatile data storage unit. The communication module uploads the newly stored encrypted data to the cloud platform every hour.

[0048] As another optional embodiment, the internal shared memory unit of the processing module temporarily stores the data to be processed, and the internal data encryption unit encrypts and signs it. The encrypted data is written to the non-volatile data storage unit through the SDIO interface. The user can export the encrypted data packet through the Ethernet module, and the communication module automatically uploads the data to release space when the storage unit capacity reaches 80%.

[0049] For example, when the vehicle is in an emergency braking on the highway, the external domain control determines that key data needs to be recorded, sends a signal to the processing module through the Ethernet module, triggers safety event 1, and the processing module retains the sensor data of the braking system and radar; at the same time, the CAN listener monitors the periodic abnormality of the braking-related CAN ID, triggers safety event 2, and records the power system data; the attitude measurer detects that the vehicle acceleration exceeds the threshold, triggers safety event 3, and records the vehicle body attitude data; if the main power is temporarily interrupted during braking, the power management module switches to nickel-hydrogen battery power supply, triggers safety event 4, and continuously records the vehicle state; the Ethernet module monitors that the network traffic exceeds the threshold due to the surge of data transmission, triggers safety event 5, and records the Ethernet message; these data are stored in the storage unit after being encrypted by SM1 and signed by SHA-1, and then uploaded to the cloud platform through the 5G communication module, which is convenient for restoring the braking scene later.

[0050] The embodiment ensures that the vehicle terminal can comprehensively and accurately record key safety event data of the vehicle, and the encryption and signature mechanism guarantees the reliability of the data, so as to provide strong support for restoring the automatic driving fault scene.

[0051] Further, the processing module includes a first core, a second core and a third core; the first core is configured to process CAN data sent by the CAN module or Ethernet data sent by the Ethernet module, the Ethernet module being in communication connection with the communication module; the second core is configured to process inertial data sent by the inertial measurement module; and the third core is configured to store drive control logic.

[0052] In the embodiment, the processing module includes a first core, a second core and a third core; the first core is responsible for processing specific data, the second core focuses on inertial data processing, and the third core is configured to store drive control logic.

[0053] As an optional implementation, the first core receives CAN data sent by the CAN module, analyzes and filters the CAN data, receives Ethernet data transmitted by the Ethernet module, and the Ethernet module realizes information interaction with the outside through the communication module; the second core receives inertial data such as acceleration and angular velocity sent by the inertial measurement module, and pre-processes the inertial data for attitude calculation; and the third core stores drive control logic including processing flow after triggering of each safety event and data storage rules, which can be called to perform corresponding operations.

[0054] As another optional implementation, the first core processes the data sent by the CAN module and the Ethernet module in real time, and sends a signal to other cores when a data abnormality is detected. The Ethernet module and the communication module establish a stable communication link to ensure data transmission; the second core filters and calibrates the inertial data to improve data accuracy; the drive control logic stored in the third core can receive update instructions through the Ethernet module to realize online update of the logic.

[0055] For example, when an abnormal message appears in the vehicle CAN network, the CAN module sends the message to the first core. After analysis, the first core determines that it is the trigger condition of safety event 2, and then notifies the third core. The third core calls the stored drive control logic and instructs the relevant units to record the data; at the same time, the inertial measurement module sends the inertial data of the vehicle vibration to the second core. After processing, the second core finds that the vibration amplitude exceeds the threshold, triggering safety event 3. The third core again calls the corresponding control logic to perform the recording operation. The cores work together to ensure timely and accurate event processing.

[0056] Further, refer to Figure 1 The vehicle terminal includes a power management module 101, a vehicle power supply 102, a nickel-hydrogen battery pack 103, an inertial measurement module 104, a data storage module 105, a processing module 106, a CAN module 107, an Ethernet module 108, a satellite positioning module 109, a shared memory module 110, a data encryption module 111, and a 5G communication module 112.

[0057] The processing module includes a first core, a second core, a third core, a shared memory module and a data encryption module.

[0058] As an optional embodiment, the vehicle power supply can be an external vehicle power supply, the nickel-metal hydride battery pack can be an internal nickel-metal hydride rechargeable battery, the data storage module can be a non-volatile data storage unit, the processing module can be a triple-core architecture processor, the CAN module can be a multi-channel CAN network transceiver unit, the Ethernet module can be an Ethernet switch unit, the shared memory module can be a shared memory unit inside the processor, and the data encryption module can be a data encryption unit inside the processor.

[0059] As an optional implementation, the vehicle's external domain control can notify the processing module 106 through the CAN module 107 or the Ethernet module 108 to trigger the security event 1, and the core processor will retain the corresponding sensor data according to pre-set conditions.

[0060] CAN module 107 is connected with processing module 106 through asynchronous serial port, and constitutes CAN listener with the software algorithm of the internal first core of processing module 106, CAN listener is connected as a probe point into CAN network, and CAN listener does not reply CAN message in network, and CAN listener does not occupy the bandwidth of CAN network itself.Further, CAN listener can simultaneously listen to 8-way CAN message;Support classic CAN protocol and CAN FD protocol;CAN listener realizes periodic listening function through internal timer, the accuracy of timer is 1us, and through pre-setting CAN ID and period to be listened to, the listener constantly monitors the message in vehicle network, and when CAN message not meeting the set rule appears, the device is triggered to enter safety state 2, and processing module 106 records the data of vehicle related sensor according to the pre-set processing scheme.CAN listener estimates the CAN network load in period T by monitoring the number of messages in period T, and records the relationship between time and CAN network load to data storage module 105, when the network load exceeds 80%, the device is triggered to enter safety state 2, and processing module 106 records the data of vehicle related sensor according to the pre-set processing scheme.CAN listener can listen to whether the field of pre-set ID message is within the threshold range.When the field of monitored ID exceeds the threshold range, the device is triggered to enter safety event 2, and processing module 106 records the data of vehicle related sensor according to the pre-set processing scheme.

[0061] Inertial measurement module 104, satellite positioning module 109 and processing module 106 constitute an attitude measurer, wherein the satellite positioning module provides vehicle heading angle and initial speed, and the inertial measurement module provides acceleration and angular velocity, and the current attitude of vehicle and estimated attitude trend are calculated through the second core of processing module 106 running Kalman filtering algorithm, when the running attitude trend of vehicle triggers the set threshold, safety event 3 is triggered, and the multi-core processor records the corresponding sensor state according to the pre-set operation of safety event 3.

[0062] Power management module 101, vehicle power supply 102 and nickel-hydrogen battery pack 103 cooperate to supply power for the whole device, and the power management module is connected with processing module 106 through an IO interface, in normal state, the power management module makes the vehicle power supply provide energy for the whole system, and also charges the nickel-hydrogen storage battery, when the power management module detects that the voltage of vehicle power supply is lower than the threshold, the nickel-hydrogen battery will immediately provide energy for the system, and the multi-core processor is informed through IO to trigger safety event 4, and the multi-core processor records the corresponding sensor state according to the pre-set operation of safety event 4.

[0063] The data storage module 105 is connected with the processing module 106 through an SDIO interface, and the data encryption module 111 and the shared memory module 110 are connected with each other to jointly complete the encrypted storage function. The recorded data is first placed in the data encryption unit in the form of a time period data packet for SM1 encryption. In addition, each data packet that has been SM1 encrypted is subjected to SHA-1 key digital signature authentication, and the digital signature is combined with the data packet in a certain format for storage, so as to achieve the purpose of unalterable data packet. In addition, the user can export the encrypted data packet through the Ethernet module 108 for supporting subsequent fault analysis.

[0064] The Ethernet module 108 is connected with the processing module 106 through an RGMII (Reduced Gigabit Media Independent Interface) interface to form a gateway management unit. The gateway unit supports eight entity Ethernet interfaces, and the gateway unit can monitor the traffic level of each entity Ethernet interface at any time. When the traffic of a certain Ethernet port exceeds the preset threshold, the gateway management unit will trigger a security event 5, and the processing module 106 records the data of the vehicle-related sensor and the Ethernet message according to the pre-set processing scheme to provide log materials for subsequent information security analysis. Further, the gateway management unit provides a time-sensitive network (TSN) function. The gateway unit supports the IEEE 802.3Qav protocol based on a credit flow shaper, and can preferentially transmit the set MAC message packet even when the network is congested, thereby providing a guarantee for the functional safety of the whole vehicle.

[0065] The 5G communication module 112 is connected with the Ethernet module 108 through an SGMII interface, and periodically transmits the encryption data on the data storage unit to the cloud monitoring platform, thereby releasing the storage space.

[0066] In the embodiment, the processing module is divided into three cores, and the functions of the cores are clearly defined, so that the specialization and division of labor of data processing are realized, the processing efficiency and response speed are improved, the cores work cooperatively to ensure the stable operation of the vehicle terminal in a complex scene, and the reliability of the overall scheme is enhanced.

[0067] Based on any of the above embodiments, the second embodiment of the present application provides a control method of a vehicle terminal, which is described with reference to Figure 2 The control method of the vehicle terminal includes steps S100-S300. In step S100, in response to the stream data received by the processing module, a security event rule associated with the data type of the stream data is determined based on the data type.

[0068] In the embodiment, the stream data refers to real-time dynamic data continuously received by the processing module from each module of the vehicle, such as CAN messages transmitted by the CAN module, inertial parameters sent by the inertial measurement module, network data delivered by the Ethernet module, etc.; the data type refers to the classification of the stream data, such as CAN data, inertial data, Ethernet data, etc.; and the safety event rule refers to a condition criterion pre-set for different data types and used for judging whether to trigger a safety event.

[0069] As an optional implementation, the processing module receives stream data from the positioning module, identifies that the data type of the stream data is positioning data, the type is associated with part of the rules of the safety event 3, and the processing module determines that the safety event rules related to the vehicle speed and the heading angle need to be matched.

[0070] As another optional implementation, the processing module receives stream data forwarded by the communication module, judges that the data type is network interaction data, the type is associated with the auxiliary rules of the safety event 5, and further determines that the safety event rules related to the Ethernet gateway state need to be referred to.

[0071] In step S200, if the stream data meets the safety event rule, it is determined to trigger the safety event corresponding to the safety event rule.

[0072] In the embodiment, the stream data meeting the safety event rule refers to the characteristics presented by the stream data being consistent with the conditions in the pre-set safety event rule; and the determination to trigger the corresponding safety event refers to the processing module starting the recording process of the safety event according to the matching result of the stream data and the rule.

[0073] As an optional implementation, the processing module analyzes the received CAN stream data, finds that the period of the monitored CAN ID exceeds the set threshold, meets the rules of the safety event 2, and thus determines to trigger the safety event 2.

[0074] As another optional implementation, after the processing module processes the stream data of the inertial measurement module, it learns that the vehicle attitude inclination exceeds the set threshold, meets the rules of the safety event 3, and thus determines to trigger the safety event 3.

[0075] In step S300, the sensor data corresponding to the safety event rule is saved.

[0076] In the embodiment, the sensor data corresponding to the safety event rule refers to the data collected by various sensors associated with the triggered safety event and capable of reflecting the state of the vehicle at the time of the event, such as radar sensor data, acceleration sensor data, and steering angle sensor data; and the saving refers to storing the data after encryption processing in the non-volatile data storage unit.

[0077] As an optional embodiment, after the safety event 4 is triggered, the processing module collects relevant data of the power management unit, the vehicle body speed sensor and the like according to the corresponding rules, and saves the encrypted data to the non-volatile data storage unit.

[0078] As another optional embodiment, when the safety event 5 is triggered, the processing module retains the Ethernet switch state data, the network flow sensor data and the like according to the rules, and stores the encrypted data to the non-volatile data storage unit.

[0079] For example, during the vehicle driving, the processing module receives the flow data of the Ethernet module, determines that the data type of the flow data is Ethernet data, and associates the rule of the safety event 5. After detection, the total network flow exceeds 80% of the designed bandwidth, which meets the rule of the safety event 5, and it is determined that the safety event 5 is triggered. Then, the corresponding sensor data of the Ethernet interface sensor and the network load monitoring sensor are saved. The embodiment first determines the safety event rule associated with the data type of the flow data based on the data type of the flow data received by the processing module; if the flow data meets the safety event rule, it is determined that the safety event corresponding to the safety event rule is triggered; and the sensor data corresponding to the safety event rule is saved. That is, the present application sets the safety event rule for each type of flow data, then traverses each type of flow data in a data acquisition period, and then determines whether the safety event rule is triggered and stores the corresponding sensor data, thereby solving the technical problem of the existing vehicle terminal that cannot adapt to the fault event determination demand of diversified custom scenarios, and achieving the technical effect of recording key events of the vehicle in addition to time period events and time stamp events through diversified triggering approaches.

[0080] Based on any of the above embodiments, the present application embodiment three proposes a control method of a vehicle terminal, after step S100, comprising: Step S101, if the flow data does not meet the safety event rule, determining whether the data type is a set data type.

[0081] In the present embodiment, the flow data not meeting the safety event rule means that the characteristics of the flow data do not match the conditions in the safety event rule; and the set data type means a specific type of data that needs to be continuously collected periodically, such as inertial data, basic positioning data and the like in the normal running state of the vehicle.

[0082] As an optional embodiment, after the processing module analyzes the flow data of the CAN module, it is found that the flow data does not meet the rule of the safety event 2, and then it is determined whether the CAN data type is a set data type, and the set data type is predefined as the CAN data containing the normal driving parameters of the vehicle.

[0083] As another optional implementation, the processing module processes the flow data of the Ethernet module, determines that it does not conform to the rule of the security event 5, and then checks whether the Ethernet data type belongs to the set data type, which is the network basic state data.

[0084] In step S102, if the data type is not the set data type, the step of determining the security event rule associated with the data type based on the data type of the flow data received by the processing module is executed again.

[0085] In the embodiment, the data type not being the set data type means that the data type does not belong to the type that needs to be continuously collected in a period, and the returning execution of the previous step means re-entering the flow of receiving the flow data and rule matching.

[0086] As an optional implementation, the processing module determines that the data type of the flow data is temporary diagnostic data, which does not belong to the set data type, and then returns to step S100 to continue receiving new flow data and determining the security event rule associated therewith.

[0087] As another optional implementation, the data type of the flow data is occasional debugging data, which does not belong to the set data type, and the processing module returns to execute step S100 to restart the processing flow of the flow data.

[0088] In step S103, if the data type is the set data type, the n+1th data collection period is entered.

[0089] In the embodiment, the data type being the set data type means that the data type belongs to the type that needs to be continuously collected in a period, and the n+1th data collection period means entering the next continuous collection period after the current data collection period ends.

[0090] As an optional implementation, the processing module determines that the data type of the flow data is vehicle regular inertia data, which belongs to the set data type, and then ends the nth data collection period and enters the n+1th data collection period to continue collecting the type of data in a period.

[0091] As another optional implementation, the data type of the flow data is basic positioning data, which belongs to the set data type, and the processing module enters the n+1th data collection period to continuously collect the type of data after completing the nth period processing.

[0092] For example, in the third data acquisition cycle, the processing module receives the stream data of the inertial measurement module, determines that it is an inertial data type, and associates the rule of safety event 3. The analysis finds that the stream data does not conform to the safety event 3 rule, and then judges that the inertial data type is a set data type (pre-set as a regular inertial data), so the processing module ends the third data acquisition cycle and enters the fourth data acquisition cycle to continue acquiring inertial data.

[0093] For example, with reference to Figure 3 , Figure 3 A flowchart in a data acquisition cycle is shown, which is the nth data acquisition cycle, and the vehicle terminal is in a normal driving monitoring state. Each hardware module (power management, CAN, Ethernet, communication, positioning, inertial measurement, processing module) has completed initialization and entered the data interaction process. The monitoring starts, the processing module starts the "data acquisition cycle" task, sends the acquisition enable signal to the power management module, CAN module, Ethernet module, etc., synchronously initializes the data buffer area, and prepares to receive and process stream data.

[0094] The gateway / network event is triggered, and the trigger condition is that the Ethernet module monitors the gateway state in real time (such as gateway switch instruction, network data forwarding exception), or the communication module detects that the network data interaction is timed out (such as cross-domain communication delay). If the "gateway / network event" is triggered, the processing module calls the API of the Ethernet module and the communication module, acquires the gateway control chip state data (such as gateway opening and closing signal) and network interaction message (such as CAN / Ethernet frame of cross-domain communication) according to the requirements of GB14097, and stores them in a special buffer area; if it is not triggered, skip this branch and enter the "safety event 1-5" judgment process.

[0095] The safety event 1-5 is triggered, and the processing module continuously receives multi-module stream data, which is classified by hardware source, and matches the "safety event 1-5" rules in the flowchart: Safety event 1 (receiving intelligent driving domain control trigger instruction): Trigger condition: The communication module receives the emergency instruction (such as automatic emergency braking request) sent by the intelligent driving domain control, and the processing module identifies the data type as "intelligent driving control instruction".

[0096] Execution logic: Determine that safety event 1 is triggered, call the CAN module and the Ethernet module to collect associated sensor data such as camera raw frames (Ethernet module transmission) and millimeter wave radar point cloud (CAN module forwarding), and save them to the "safety event 1 data area" according to the rules.

[0097] Safety event 2 (key CAN message positioning trigger): Trigger condition: CAN module parses key message exception (such as power system CAN ID cycle disorder), processing module identifies data type as "key CAN message".

[0098] Execution logic: Determine to trigger safety event 2, collect CAN module associated sensor data - such as engine speed sensor (CAN message coding value), gearbox gear signal (CAN frame data segment), and encrypt storage to "safety event 2 data area".

[0099] Safety event 3 (special posture trigger): Trigger condition: Determine the special posture of the vehicle body through the combination of the internal satellite positioning module and the inertial measurement module without the aid of external inertial navigation equipment, and trigger safety event 3 by predicting the trend of the change in posture in advance. The special state includes: 1. The lateral speed of the vehicle exceeds the set threshold. 2. The acceleration of the vehicle is greater than the set threshold. 3. The speed of the vehicle is greater than the set threshold. 4. The inclination of the vehicle posture exceeds the set threshold. 5. The amplitude of the left and right shaking of the vehicle exceeds the set threshold. 6. The turning radius of the vehicle exceeds the set threshold.

[0100] Safety event 4 (power management module trigger): Trigger condition: The power management module monitors the abnormality (such as battery voltage drop, external charging failure), sends an alarm frame to the processing module through CAN / Ethernet, and the data type is "power state message".

[0101] Execution logic: Determine to trigger safety event 4, collect power management module associated data - such as battery SOC (remaining capacity), module power supply voltage (power management chip collection), write to "safety event 4 data area".

[0102] Safety event 5 (Ethernet gateway trigger): Trigger condition: The Ethernet module detects gateway exception (such as gateway misshutdown, network traffic surge), reports gateway status frame to the processing module, and the data type is "Ethernet gateway status".

[0103] Execution logic: Determine to trigger safety event 5, collect Ethernet module associated data - such as gateway front and rear network traffic (Ethernet switch statistics), gateway control instruction log (module internal cache), and encrypt save.

[0104] If the module stream data does not trigger the above safety event (such as the regular position message sent by the positioning module, the stable attitude data output by the inertial measurement module): determine whether the data type is a "set data type": if it is a set data type (such as regular positioning data of the positioning module, regular attitude data of the inertial measurement module, which needs to be collected periodically): the processing module marks "periodic validity", directly enters the n+1 data collection period, and maintains the continuity of regular data; if it is not a set data type (such as a single diagnostic instruction, a temporary debugging message): return to the beginning of the flow, re-execute "monitoring start", and ensure timely response of non-periodic data.

[0105] When the safety events 1-5 are processed (data saving, abnormal response closed loop), or the periodic connection logic is executed: the processing module sends a "clear marker" instruction to each hardware module (such as resetting the alarm state of the power management module, and emptying the temporary buffer of the CAN module); close the data buffer area of the current period, release resources, and prepare to enter the n+1 data collection period (if it is a set data type triggered period connection, then directly reuse the period resources).

[0106] The embodiment improves the processing logic when the stream data does not meet the safety event rules through the newly added steps, continuously collects the set data type according to the period, ensures the continuity of the regular data record, simultaneously re-processes the non-set data type in time, improves the pertinence and efficiency of data collection, and makes the control flow of the vehicle-mounted terminal more perfect.

[0107] Based on any of the above embodiments, in the fourth embodiment of the present application, the step of determining the safety event rule associated with the data type based on the data type of the stream data comprises: If the data type is CAN data, the safety event rule is determined to be at least one of the following: The CANID period of the CAN data does not meet the set period threshold; The CANID and the corresponding field of the CAN data do not match the preset message field; The CAN network load of the CAN data is greater than the load threshold.

[0108] In the present embodiment, the stream data refers to the real-time transmitted message data received by the processing module from the CAN module; the data type is CAN data, that is, the vehicle system state message transmitted through the CAN bus; the safety event rule refers to the specific conditions set for the CAN data for judging whether to trigger a safety event, including the CANID period, the message field matching, and the network load dimension determination standard.

[0109] As an optional implementation, the processing module receives the stream data of the CAN module, determines that the data type is CAN data, and determines that "a CAN ID cycle of the CAN data does not conform to a set cycle threshold" is the associated safety event rule, where the set cycle threshold is preconfigured according to the functional requirements of different CAN IDs, for example, the set cycle of a power system CAN ID is 10 ms, and the threshold range is ±1 ms.

[0110] As another optional implementation, the processing module receives the stream data of the CAN module, determines that the data type is CAN data, and determines that "a CAN ID of the CAN data and a corresponding field do not conform to a preset message field" is the associated safety event rule, where the preset message field includes a standard data range and format corresponding to each CAN ID, for example, the pressure field of a brake system CAN ID is preconfigured to be in a range of 0-1000 kPa.

[0111] As a third optional implementation, the processing module receives the stream data of the CAN module, determines that the data type is CAN data, and determines that "a CAN network load of the CAN data is greater than a load threshold" is the associated safety event rule, where the load threshold is set to be 80% of the maximum bearing capacity of the CAN network, and the network load is calculated by counting the number of messages in a unit of time.

[0112] For example, the processing module receives stream data from a vehicle body control CAN bus and determines that the data type is CAN data. For a light control CAN ID, the processing module determines the associated rule by using the first optional implementation: the set cycle of the CAN ID is 50 ms, the threshold is ±5 ms, and the rule is whether the cycle is greater than 45-55 ms; for a vehicle door status CAN ID, the processing module determines the associated rule by using the second optional implementation: whether the on-off state field conforms to the preset 0 (closed) / 1 (open); and for the entire vehicle body CAN network, the processing module determines the associated rule by using the third optional implementation: whether the network load exceeds the threshold of 80%.

[0113] The three optional implementations correspond to three safety event rules of CAN data respectively, so that the determination criteria of each rule are more specific, the processing module can accurately match the corresponding rule according to the actual scene, the pertinence and accuracy of CAN data anomaly judgment are improved, and an explicit basis is provided for accurate triggering of safety events.

[0114] Based on any of the above embodiments, in the fourth embodiment of the present application, the step of determining the safety event rule associated with the data type based on the data type of the stream data includes: If the data type is inertial data, the safety event rule is determined to be at least one of the following: a lateral velocity of the vehicle determined from the inertial data is greater than a lateral velocity threshold value; an acceleration of the vehicle determined from the inertial data is greater than an acceleration threshold value; a speed of the vehicle determined from the inertial data is greater than a set speed threshold value; a roll of the vehicle determined from the inertial data is greater than a roll threshold value; a shaking amplitude of the vehicle determined from the inertial data is greater than a shaking threshold value; a turning amplitude of the vehicle determined from the inertial data is greater than a turning threshold value.

[0115] In the embodiment, the stream data refers to real-time motion parameter data received by the processing module from the inertial measurement module; the data type is inertial data, i.e. data such as acceleration and angular velocity reflecting the motion state of the vehicle collected by the measurement module; the safety event rule refers to specific conditions set for the inertial data for judging whether a safety event is triggered, which covers the determination criteria of the dimensions such as the lateral velocity, acceleration, speed, roll, shaking amplitude and turning amplitude of the vehicle.

[0116] As an optional embodiment, the processing module receives the stream data of the inertial measurement module, determines that the data type is inertial data, and determines that "a lateral velocity of the vehicle determined from the inertial data is greater than a lateral velocity threshold value" is the associated safety event rule, wherein the lateral velocity threshold value is preset according to the type of the vehicle, for example, the threshold value is set to 5 m / s for a passenger car.

[0117] As another optional embodiment, the processing module receives the stream data of the inertial measurement module, determines that the data type is inertial data, and determines that "an acceleration of the vehicle determined from the inertial data is greater than an acceleration threshold value" is the associated safety event rule, wherein the acceleration threshold value is differentiated according to the positive and negative directions, for example, the positive acceleration threshold value is set to 3 m / s 2 , and the negative acceleration (braking) threshold value is set to -5 m / s 2 .

[0118] As a third optional embodiment, the processing module receives the stream data of the inertial measurement module, determines that the data type is inertial data, and determines that "a speed of the vehicle determined from the inertial data is greater than a set speed threshold value" is the associated safety event rule, wherein the set speed threshold value is preset according to the type of the road, for example, the threshold value is set to 120 km / h for a highway scenario.

[0119] As a fourth optional embodiment, the processing module receives the stream data of the inertial measurement module, determines that the data type is inertial data, and determines that "a roll of the vehicle determined from the inertial data is greater than a roll threshold value" is the associated safety event rule, wherein the roll threshold value is set to 15°, i.e. the rule is met when the roll angle of the vehicle is greater than 15°.

[0120] As a fifth optional implementation, the processing module receives the stream data of the inertial measurement module, determines that the data type is inertial data, and determines that "the shaking amplitude of the vehicle left and right determined according to the inertial data is greater than a shaking amplitude threshold" is the associated safety event rule, where the shaking amplitude threshold is set to 0.5 m, that is, the shaking displacement of the vehicle in the left and right directions exceeds 0.5 m to meet the rule.

[0121] As a sixth optional implementation, the processing module receives the stream data of the inertial measurement module, determines that the data type is inertial data, and determines that "the turning radius of the vehicle determined according to the inertial data is greater than a radius threshold" is the associated safety event rule, where the radius threshold is set to 0.1 rad / m, that is, the change in the radius per unit distance when turning exceeds 0.1 rad to meet the rule.

[0122] For example, the processing module receives the stream data transmitted from the measurement module and determines that the data type is inertial data. For the urban road driving scenario, after analyzing the data, different rules are applied respectively: the lateral speed threshold is set to 3 m / s, the acceleration threshold (positive) is set to 2 m / s 2 , the speed threshold is set to 60 km / h, the inclination threshold is set to 10°, the shaking threshold is set to 0.3 m, and the turning radius threshold is set to 0.08 rad / m, forming a set of safety event rules associated with the inertial data in this scenario.

[0123] The six optional implementations of the embodiment correspond to six safety event rules of the inertial data respectively, so that the determination standard of each rule accurately corresponds to the actual motion state of the vehicle. The processing module can flexibly match the rules according to different driving scenarios, improve the recognition accuracy of the abnormal posture of the vehicle, and provide detailed and executable judgment basis for the triggering of the safety event 3.

[0124] Based on any of the above embodiments, in the fourth embodiment of the present application, the step of determining the safety event rule associated with the data type based on the data type of the stream data comprises: If the data type is power supply data, the safety event rule is determined to be at least one of the following: The vehicle power supply stops supplying power; The battery pack supplies power.

[0125] In this embodiment, the stream data refers to the real-time power supply state data received by the processing module from the power management module; the data type is power supply data, that is, information reflecting the running state of the vehicle power supply system, including power supply source, voltage, current and other data; the safety event rule refers to specific conditions set for the power supply data for judging whether to trigger a safety event, involving the determination standard of the vehicle power supply and the battery pack power supply state.

[0126] As an optional implementation, the processing module receives the stream data of the power management module, determines that the data type is power data, and determines "vehicle power supply stops supplying power" as the associated safety event rule, wherein the vehicle power supply refers to the external main power supply of the vehicle, and the stop supplying power refers to that the output voltage of the power supply is reduced to below a set power-off threshold (such as 10V).

[0127] As another optional implementation, the processing module receives the stream data of the power management module, determines that the data type is power data, and determines "battery pack supplies power" as the associated safety event rule, wherein the battery pack refers to a nickel-hydrogen battery pack, and the battery pack supplies power refers to that the power management module switches to a state in which the battery pack supplies power to the system.

[0128] For example, the processing module receives the stream data transmitted by the power management module and determines that the data type is power data. During normal driving, the power management module monitors that the voltage of the vehicle power supply is 13.5V, and the "vehicle power supply stops supplying power" rule is not triggered. When the vehicle is in a collision and the external power supply is disconnected, the voltage drops to 9V, which meets the "vehicle power supply stops supplying power" rule. At the same time, the power management module automatically switches to the internal nickel-hydrogen battery pack for power supply, which meets the "battery pack supplies power" rule.

[0129] The embodiment corresponds to two safety event rules of the power data through two optional implementations, clearly defines the determination standard of the abnormal state of the power supply system, enables the processing module to accurately identify the change of the power supply state of the vehicle, provides a clear judgment basis for the triggering of the safety event 4, and improves the response accuracy of the vehicle terminal to the power supply abnormality.

[0130] Based on any of the above embodiments, in the fourth embodiment of the present application, the step of determining the safety event rule associated with the data type based on the data type of the stream data comprises: If the data type is Ethernet data, the safety event rule is determined to be that the total network traffic determined based on the Ethernet data exceeds the bandwidth threshold of the designed bandwidth.

[0131] In the embodiment, the stream data refers to the real-time network transmission data received by the processing module from the Ethernet module; the data type is Ethernet data, that is, various message data transmitted through the Ethernet, including interactive data between various domain controllers of the vehicle and sensor data; the safety event rule refers to a specific condition set for the Ethernet data for judging whether to trigger a safety event, and specifically refers to a proportional relationship determination standard of the total network traffic and the designed bandwidth. The gateway function includes a time-sensitive network function, supports a time-sensitive network based on a credit shaper, and ensures that MAC (Media Access Control, media access control sublayer protocol) data packets with high priority occupy network bandwidth when traffic is congested.

[0132] As an optional implementation, the processing module receives the flow data of the Ethernet module, determines that the data type is Ethernet data, and determines the associated security event rule as "the total network traffic determined according to the Ethernet data exceeds a bandwidth threshold of the design bandwidth", wherein the design bandwidth refers to the rated maximum transmission bandwidth (such as 1 Gbps) of the Ethernet module, and the bandwidth threshold is set as 80% (namely 800 Mbps) of the design bandwidth. Whether the threshold is exceeded is determined by real-time statistics of the total transmission data amount of the Ethernet in a unit time.

[0133] As another optional implementation, the processing module analyzes the flow data transmitted by the Ethernet module, confirms that the data type is Ethernet data, and determines the associated security event rule as: real-time collection of the instantaneous traffic of each entity Ethernet interface by the flow monitoring unit built in the Ethernet module and aggregation into the total network traffic, and when the ratio of the total traffic to the design bandwidth is greater than 80% (namely the bandwidth threshold), the security event rule is met.

[0134] For example, the design bandwidth of the vehicle-mounted Ethernet module is 1 Gbps, and the bandwidth threshold is set as 80% (800 Mbps). After the processing module receives the flow data of the Ethernet module and determines that the data type is Ethernet data, the flow monitoring function is enabled, and the current total network traffic is calculated as 850 Mbps, which exceeds the threshold of 800 Mbps. At this time, the security event rule of "the total network traffic exceeds the bandwidth threshold of the design bandwidth" is met.

[0135] The two optional implementations of the embodiment correspond to two security event rules of the power supply data, and the determination standard of the Ethernet network flow anomaly is clear, so that the processing module can accurately monitor the network load state, and provides an objective and quantifiable judgment basis for the triggering of the security event 5, and improves the timeliness of the response of the vehicle-mounted terminal to the Ethernet anomaly.

[0136] The application provides a vehicle-mounted terminal, which comprises at least one processor and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the control method of the vehicle-mounted terminal in the above-mentioned embodiment one.

[0137] Reference will now be made to the following description Figure 4 which shows a structural schematic diagram of a vehicle-mounted terminal suitable for implementing the embodiments of the application. The vehicle-mounted terminal in the embodiments of the application can include but is not limited to mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, personal digital assistants (PDA, Personal Digital Assistant), tablet computers, vehicle-mounted terminals, and fixed terminals such as digital TVs, desktop computers, and the like. Figure 4The in-vehicle terminal shown is merely an example and should not impose any limitation on the functions and use range of the embodiments of the present application.

[0138] As shown in Figure 4 The in-vehicle terminal can include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.) that can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 1002 or programs loaded from a storage device 1003 into a random access memory (RAM) 1004. Various programs and data required for operation of the in-vehicle terminal are also stored in the random access memory 1004. The processing device 1001, the read-only memory 1002, and the random access memory 1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; the storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the in-vehicle terminal to communicate wirelessly or by wire with other devices to exchange data. Although the in-vehicle terminal having various systems is shown in the figure, it should be understood that all the systems shown are not required to be implemented or possessed. More or fewer systems can be alternatively implemented or possessed.

[0139] In particular, the processes described above with reference to the flowcharts can be implemented as a computer software program according to the embodiments disclosed in the present application. For example, the embodiments disclosed in the present application include a computer program product including a computer program carried on a computer readable medium, the computer program containing program codes for executing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network through the communication device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the methods of the embodiments disclosed in the present application are performed.

[0140] The vehicle terminal provided by the present application adopts the control method of the vehicle terminal in the above embodiment, and can solve the technical problem that the existing vehicle terminal cannot adapt to the fault event judgment requirement brought by diversified self-defined scene requirements. Compared with the prior art, the vehicle terminal provided by the present application has the same beneficial effects as the vehicle terminal provided by the above embodiment, and other technical features in the vehicle terminal are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0141] It should be understood that various parts of the present application can be realized by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0142] The above is merely specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0143] The present application provides a computer readable storage medium having computer readable program instructions (i.e. computer programs) stored thereon, the computer readable program instructions being used to execute the control method of the vehicle terminal in the above embodiment.

[0144] The computer readable storage medium provided by the present application may, for example, be a U disk, but is not limited to an electric, magnetic, optical, electromagnetic, infrared, or semiconductor system, system or device, or any combination thereof. More specific examples of the computer readable storage medium can include, but are not limited to: an electric connection with one or more conductive wires, a portable computer disk, a hard disk, a random access memory (RAM), a read only memory (ROM), an erasable programmable read only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present embodiment, the computer readable storage medium can be any tangible medium containing or storing a program, which can be used by or in conjunction with an instruction execution system, system or device. The program code contained on the computer readable storage medium can be transmitted by any suitable medium, including but not limited to: an electric wire, an optical cable, a radio frequency (RF), etc., or any suitable combination thereof.

[0145] The computer readable storage medium can be included in the vehicle terminal, or can exist separately from the vehicle terminal.

[0146] The computer readable storage medium carries one or more programs, which, when executed by the vehicle terminal, cause the vehicle terminal to: in response to stream data received by the processing module, determine a safety event rule associated with a data type of the stream data based on the data type; determine that a safety event corresponding to the safety event rule is triggered if the stream data meets the safety event rule; and save sensor data corresponding to the safety event rule.

[0147] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0148] The flow diagrams and the block diagrams in the drawings are illustrations of architectures, functionalities, and operations of possible implementations of systems, methods, and computer program products according to various embodiments of present application. In this regard, each block in the flow diagrams or block diagrams can represent a module, a procedure, or a part of code, which comprises one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in a different order than that noted in the figures. For example, two blocks noted in succession can in fact be executed substantially concurrently or in the opposite order, depending on the functionality involved. It will also be noted that each block of the block diagrams and / or flow diagrams, and combinations of blocks in the block diagrams and / or flow diagrams, can be implemented by dedicated hardware-based systems that carry out the specified functions or operations, or combinations of dedicated hardware and computer instructions.

[0149] The modules described in the embodiments of the present application can be implemented in the form of software or in the form of hardware. In some cases, the name of the module does not constitute a limitation on the module itself.

[0150] The readable storage medium provided by the present application is a computer readable storage medium, which stores computer readable program instructions (i.e., a computer program) for executing the control method of the vehicle terminal, and can solve the technical problem that the existing vehicle terminal cannot adapt to the fault event determination requirement caused by diversified self-defined scene requirements. Compared with the prior art, the computer readable storage medium provided by the present application has the same beneficial effects as the control method of the vehicle terminal provided by the above embodiments, and will not be described here.

[0151] The embodiments of the present application provide a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the control method of the vehicle terminal are implemented.

[0152] The computer program product provided by the present application can solve the technical problem that the existing vehicle terminal cannot adapt to the fault event determination requirement caused by diversified self-defined scene requirements. Compared with the prior art, the computer program product provided by the embodiments of the present application has the same beneficial effects as the control method of the vehicle terminal provided by the above embodiments, and will not be described here.

[0153] The above is only the preferred embodiments of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation using the content of the present application specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent processing scope of the present application.

Claims

1. A vehicle-mounted terminal, characterized in that: The vehicle-mounted terminal includes: a power management module, a CAN module, an Ethernet module, a communication module, a positioning module, an inertial measurement module and a processing module.

2. The vehicle-mounted terminal according to claim 1, wherein: The processing module includes: a first core, a second core and a third core; The first core is used to process CAN data sent by the CAN module, or Ethernet data sent by the Ethernet module, and the Ethernet module is communicatively connected with the communication module; The second core is used to process the inertial data sent by the inertial measurement module; The third core is used for storing drive control logic.

3. The vehicle-mounted terminal according to claim 1, wherein: The power management module is connected to the processing module 10, and the power management module is connected to the vehicle power supply and the battery pack.

4. A control method for a vehicle-mounted terminal, characterized in that: The control method of the vehicle terminal includes: In response to the flow data received by the processing module, determining, based on a data type of the flow data, a security event rule associated with the data type; If the flow data meets the security event rule, determining to trigger the security event corresponding to the security event rule; The sensor data corresponding to the security event rule is saved.

5. The control method of the vehicle terminal according to claim 4, characterized in that: Applied to the nth data collection cycle, after the step of determining the security event rule associated with the data type based on the data type of the stream data, the method includes: If the stream data does not comply with the security event rule, determining whether the data type is a set data type; If the data type is not the set data type, returning to the step of executing, in response to the flow data received by the processing module, determining, based on the data type of the flow data, a security event rule associated with the data type; If the data type is the set data type, enter the (n+1)th data collection cycle.

6. The control method of the vehicle terminal according to claim 4, characterized in that: The step of determining, based on the data type of the stream data, a security event rule associated with the data type includes: If the data type is CAN data, determine that the security event rule is at least one of the following: The CAN ID period of the CAN data does not meet the set period threshold; The CAN ID and corresponding fields of the CAN data do not match the preset message fields; The CAN network load of the CAN data is greater than a load threshold.

7. The control method of the vehicle-mounted terminal according to claim 4, wherein: The step of determining, based on the data type of the stream data, a security event rule associated with the data type includes: If the data type is inertial data, determine that the security event rule is at least one of the following: a lateral velocity of the vehicle determined based on the inertial data being greater than a lateral velocity threshold; The vehicle acceleration determined based on the inertial data is greater than an acceleration threshold; The vehicle speed determined based on the inertial data is greater than a set speed threshold; The vehicle posture inclination determined based on the inertial data is greater than an inclination threshold; The left and right vibration amplitude of the vehicle determined according to the inertial data is greater than a vibration threshold; The vehicle turning arc determined according to the inertial data is greater than an arc threshold.

8. The control method of the vehicle-mounted terminal according to claim 4, wherein: The step of determining, based on the data type of the stream data, a security event rule associated with the data type includes: If the data type is power data, determine that the security event rule is at least one of the following: The vehicle power supply stops supplying power; Battery powered.

9. The control method of the vehicle-mounted terminal according to claim 4, wherein: The step of determining, based on the data type of the stream data, a security event rule associated with the data type includes: If the data type is Ethernet data, the security event rule is determined to be a bandwidth threshold value where the total network traffic determined based on the Ethernet data exceeds the designed bandwidth.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the control method of the vehicle-mounted terminal according to any one of claims 4 to 8 are implemented.

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