CMS failure domain control auxiliary compensation method and system, vehicle, medium and program

Abstract

The invention relates to the technical field of vehicles, in particular to a domain control auxiliary compensation method and system for CMS failure, a vehicle, a medium and a programmer.The method comprises the steps that an auxiliary compensation message sent in the abnormal state of a CMS host is monitored; and an auxiliary compensation message is uploaded to an MPU (Microprocessor Unit), the MPU calls a video signal of a panoramic image system, and a panoramic image spliced picture or an independent picture acquired by a target camera is displayed on a domain control display screen according to a configuration requirement. Therefore, the problems that in the related technology, when the CMS (Camera Monitor System) fails, the driving rear view field cannot be met, and the driving safety is affected are solved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a domain controller auxiliary compensation method, system, vehicle, medium and program for CMS failure. Background Technology

[0002] With the electrification and intelligentization of the automotive industry, CMS (Car Management System) is gradually becoming a new type of safety assistance device. CMS captures images of the external environment through wide-angle cameras and utilizes advanced image processing technology to provide a clearer field of view and higher image quality, which not only improves driving safety but also enhances the driving experience. In existing CMS systems, the CMS host is responsible for receiving video signals transmitted from Category 2 and Category 4 cameras via the LVDS interface and processing them accordingly for display on the CMS screen.

[0003] In related technologies, CMS host chips typically need to meet ASIL-D level functional safety standards to ensure that a certain level of safety can be maintained even under abnormal conditions. However, when the CMS malfunctions and cannot recover on its own, the driver will lose effective observation of the rear view due to the elimination of the physical rearview mirror, which affects driving safety and results in a poor user experience. Summary of the Invention

[0004] This application provides a domain control auxiliary compensation method, system, vehicle, medium, and program for CMS failure, in order to solve the problems in related technologies such as the inability to meet the driving rear view requirements when CMS (Camera Monitoring System, automotive electronic rearview mirror) fails, affecting driving safety.

[0005] The first aspect of this application provides a domain controller auxiliary compensation method for CMS failure. The method is applied to a cockpit domain controller module and includes the following steps: listening for auxiliary compensation messages sent by the CMS host under abnormal conditions; uploading the auxiliary compensation messages to the MPU, wherein the MPU calls the video signal of the panoramic imaging system and displays a panoramic image stitched image or an independent image captured by the target camera on the domain controller display screen according to configuration requirements.

[0006] Optionally, the display of panoramic image stitching or independent images captured by the target camera on the domain control display screen according to configuration requirements is dynamically configured through the UDS diagnostic protocol.

[0007] Optionally, displaying the panoramic image stitching or the independent image captured by the target camera on the domain control display screen according to configuration requirements also includes: writing configuration parameters to non-volatile memory through a UDS diagnostic tool, or manually modifying the configuration parameters according to user modification requirements and saving them through the UDS protocol.

[0008] A second aspect of this application provides a domain controller auxiliary compensation method for CMS failure, comprising: the method being applied to a CMS host module, wherein the method includes the following steps: identifying the current state of the CMS host; if the current state is an abnormal state, generating an auxiliary compensation message and sending it to the cockpit domain controller via a CAN bus, wherein the MCU of the cockpit domain controller, after capturing the auxiliary compensation message, uploads the auxiliary compensation message to the MPU, and the MPU calls the video signal of the panoramic imaging system and displays a panoramic image stitching screen or an independent image captured by the target camera on the domain controller display screen according to configuration requirements.

[0009] Optionally, the abnormal state includes black screen, frozen frame, and module failure.

[0010] Optionally, after the current state is an abnormal state, the process includes: identifying the fault level of the CMS failure; performing the corresponding recovery operation according to the fault level; and if recovery cannot be completed within the target number of attempts, generating an auxiliary compensation message and sending it to the CAN bus.

[0011] A third aspect of this application provides a domain control auxiliary compensation system for CMS failure. The CMS host module is used to monitor abnormal states and generate auxiliary compensation messages, which are sent via the CAN bus. The cockpit domain control module includes an MCU and an MPU. After the MCU detects the auxiliary compensation message, the MPU calls the video signal from the panoramic imaging system and displays a panoramic image stitched together or an independent image captured by the target camera on the domain control display screen according to configuration requirements. The panoramic imaging module includes a left camera and a right camera, which are used to provide video signals to the cockpit domain control module. The display module is used to respond to MPU commands and display the panoramic image stitched together or the independent images from the left and right cameras.

[0012] A third aspect of this application provides a vehicle comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to perform a domain controller-assisted compensation method for CMS failure as described in the above embodiments.

[0013] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to perform the domain controller-assisted compensation method for CMS failure as described in the above embodiments.

[0014] A fifth aspect of this application provides a computer program product, including a computer program or instructions, characterized in that, when the computer program or instructions are executed, they implement the domain controller auxiliary compensation method for CMS failure as described in the above embodiments.

[0015] Therefore, this application has at least the following beneficial effects:

[0016] This application embodiment can automatically switch to the AVM display interface or display the images from the left and right cameras when the CMS fails (such as black screen, frozen frame, or module failure) and cannot recover on its own. This ensures that the driver can obtain the necessary rear view information under any circumstances, thereby significantly improving driving safety. It makes full use of the AVM system already equipped in the vehicle and its camera resources in the four directions (front, rear, left, and right) without adding additional hardware costs, achieving effective compensation in the event of CMS failure and reducing the complexity and cost of the system.

[0017] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0018] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0019] Figure 1 This is a flowchart of a domain controller auxiliary compensation method for CMS failure according to an embodiment of this application;

[0020] Figure 2 This is a flowchart of a domain controller-assisted compensation method for CMS failure according to another embodiment of this application;

[0021] Figure 3 This is an architecture diagram provided according to an embodiment of this application;

[0022] Figure 4 This is an example diagram of a domain controller auxiliary compensation system for CMS failure provided in an embodiment of this application;

[0023] Figure 5 This is a structural schematic diagram of a vehicle provided according to an embodiment of this application. Detailed Implementation

[0024] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0025] The following description, with reference to the accompanying drawings, outlines a domain controller auxiliary compensation method, apparatus, vehicle, storage medium, and program for CMS failure according to embodiments of this application.

[0026] Specifically, Figure 1This is a flowchart illustrating a domain controller auxiliary compensation method for CMS failure provided in one embodiment of this application.

[0027] like Figure 1 As shown, this domain controller-assisted compensation method for CMS failure is applied to the cockpit domain controller module. The method includes the following steps:

[0028] In step S101, the auxiliary compensation message sent by the CMS host under abnormal conditions is monitored.

[0029] It is understood that the embodiments of this application can monitor auxiliary compensation messages sent by the CMS host in an abnormal state, so as to display panoramic image stitching or independent images captured by the target camera on the domain control display screen according to configuration requirements.

[0030] In step S102, the auxiliary compensation message is uploaded to the MPU. The MPU calls the video signal of the panoramic imaging system and displays the panoramic image stitching or the independent image captured by the target camera on the domain control display screen according to the configuration requirements.

[0031] Among them, the display of panoramic image stitching or independent images captured by the target camera on the domain control display screen is dynamically configured through the UDS diagnostic protocol according to configuration requirements.

[0032] It is understood that the embodiments of this application can respond instantly to the fault status of the CMS and quickly switch to the rear view image provided by the AVM, ensuring that the driver can obtain the necessary field of vision information even if the CMS fails, effectively avoiding safety hazards caused by the lack of field of vision, and dynamically adjusting the display content according to the actual driving scenario to meet the optimal field of vision requirements under different conditions.

[0033] In this embodiment of the application, displaying a panoramic image stitching screen or an independent image captured by a target camera on the domain control display screen according to configuration requirements also includes: writing configuration parameters to non-volatile memory through a UDS diagnostic tool, or manually modifying configuration parameters according to user modification requirements and saving them through the UDS protocol.

[0034] It is understood that the embodiments of this application can easily write the initial configuration parameters into the non-volatile memory when the vehicle rolls off the production line using the UDS diagnostic tool, which simplifies the configuration steps in the production process, reduces the possibility of errors due to manual intervention, and improves work efficiency; it also supports users to manually modify the configuration parameters according to their personal preferences or the needs of specific driving environments, enhancing the user experience and making the system more user-friendly.

[0035] According to the domain controller-assisted compensation method for CMS failure proposed in this application, when the CMS fails (such as black screen, frozen frame, or module failure) and cannot recover on its own, the domain controller listens to the failure message sent by the CMS host and automatically switches to the AVM display interface or displays the images from the left and right cameras separately. This ensures that the driver can obtain the necessary rear view information under any circumstances, thereby significantly improving driving safety. It makes full use of the AVM system already equipped in the vehicle and its camera resources in the front, rear, left, and right directions, without adding additional hardware costs, and achieves effective compensation in the event of CMS failure, reducing the complexity and cost of the system.

[0036] Figure 2 This is a flowchart illustrating a domain controller auxiliary compensation method for CMS failure, provided as another embodiment of this application.

[0037] like Figure 2 As shown, this domain controller-assisted compensation method for CMS failure is applied to the CMS host module, and the method includes the following steps:

[0038] In step S201, the current state of the CMS host is identified.

[0039] It is understood that the embodiments of this application can identify the current state of the CMS host so as to generate auxiliary compensation messages in abnormal states and send them to the cockpit domain controller via the CAN bus.

[0040] In step S202, if the current state is an abnormal state, an auxiliary compensation message is generated and sent to the cockpit domain controller via the CAN bus. After the MCU of the cockpit domain controller captures the auxiliary compensation message, it uploads the auxiliary compensation message to the MPU. The MPU calls the video signal of the panoramic imaging system and displays the panoramic image stitching screen or the independent image captured by the target camera on the domain controller display screen according to the configuration requirements.

[0041] Abnormal states include black screen, frozen frame, and module failure.

[0042] It is understood that, in the embodiments of this application, when the CMS host detects that it is in an abnormal state, it can generate and send an auxiliary compensation message in a timely manner, which is quickly transmitted to the cockpit domain controller via the CAN bus, effectively shortening the time interval between CMS failure and the display of the backup screen, ensuring the continuity of the driver's vision, and improving driving safety.

[0043] In this embodiment of the application, after the current state is an abnormal state, the process includes: identifying the fault level of CMS failure; performing the corresponding recovery operation according to the fault level; and if recovery cannot be completed within the target number of times, generating an auxiliary compensation message and sending it to the CAN bus.

[0044] It is understood that the embodiments of this application can identify the fault level of CMS failure and take corresponding handling strategies according to different levels of failure, so as to make the system more intelligent and accurate in responding to various anomalies and improve overall stability and availability.

[0045] According to the domain controller auxiliary compensation method for CMS failure proposed in the embodiments of this application, when the CMS host detects that it is in an abnormal state, it can generate and send an auxiliary compensation message in a timely manner, which is quickly transmitted to the cockpit domain controller through the CAN bus, effectively shortening the time interval between CMS failure and the display of the backup screen, ensuring the continuity of the driver's vision, and improving driving safety.

[0046] The following will combine Figure 3 The domain controller auxiliary compensation method for CMS failure in this application is described in detail below:

[0047] (1) Category II and Category IV cameras are connected to the CMS host via LVDS. The CMS host processes the LVDS video signals and displays them on the CMS screen. The CMS host chip must meet ASIL-D functional safety requirements. This type of chip has built-in anomaly monitoring, which, together with CMS software monitoring and hardware status monitoring, monitors the CMS's own abnormal status. The specific monitoring strategy is implemented by the CMS supplier. In the event of anomalies such as black screen, frozen frame, or module failure that the CMS cannot recover from, an auxiliary compensation message is triggered and sent to the CAN bus.

[0048] It should be noted that the CMS chip itself is ASIL-D functional safety grade, and the chip itself has built-in protection. The monitoring strategy is mostly the chip's own monitoring strategy, combined with software to monitor hardware interfaces, hardware modules, and program anomalies.

[0049] Anomaly Detection: 1. The hardware detection interface uses hardware-supported interfaces (such as HDMI, DVI, VGA, etc.) to detect video signals in real time. If the video signal is interrupted or its quality degrades (such as a black screen or abnormal colors), the system can detect these anomalies through hardware interrupts or status registers.

[0050] 2. Real-time detection of power failures and overheating issues via hardware sensors.

[0051] 3. The software can determine whether frozen frames exist by analyzing the time intervals between video frames. If the received frames do not match the expected time intervals, it can be considered a frozen frame.

[0052] 4. The software can analyze the quality of video signals, for example, by detecting abnormal changes in parameters such as brightness, contrast, and color saturation of the video signal.

[0053] 5. Monitor the working status of each hardware module (such as camera module, processor module, etc.) by reading the hardware status register or using a dedicated status detection interface.

[0054] 6. CMS sends heartbeat messages to the CAN bus periodically. If more than 10 frames are lost, such as if the period is 50ms and 10 frames are lost, meaning there are no CMS messages on the bus for 500ms, then CMS is considered to have failed.

[0055] If you encounter anomalies such as black screen or frozen frames, you need to restart CMS. If CMS messages are lost, you need to check the CMS recovery time; if it's a hardware problem, you'll need to replace the component. Also, if a module malfunctions, the software will reinitialize the module, for example, three times. If three attempts fail, it's considered unrecoverable and will attempt a system restart. If all attempts fail, a compensation message will be triggered.

[0056] (2) The AVM is a standard feature of the cockpit domain control system. It is equipped with four cameras: front, rear, left, and right. The left and right cameras of the AVM can cover a certain range of left and right rear views, and the rear view of the AVM can also cover the rear view. To a certain extent, it can be used as an auxiliary view.

[0057] (3) The MCU of the cockpit domain controller listens for message status from the CAN bus. When it obtains a trigger message frame, it transmits the message to the MPU for processing via the UART / SPI serial port. The MPU program invokes the auxiliary compensation display screen, which has two display options: one is to directly invoke the AVM display interface, which includes a spliced ​​display of video signals from the front, rear, left, and right cameras; the other is to load the video signals from the left and right cameras of the AVM and display the images from these two cameras separately. The display option can be dynamically switched according to the UDS configuration.

[0058] It should be noted that the UDS diagnostic tool can be used to write the UDS configuration according to the vehicle configuration when the vehicle is taken offline. Then, the background engineering menu can also be accessed on the screen through a hidden door, where there is a manual configuration option. If the configuration is incorrect, it can be manually changed.

[0059] Compared to existing technologies, in CMS failure scenarios, status transmission and reception via CAN, with the domain controller using existing AVM cameras for side and rear view display assistance and compensation, can be used for emergency response strategies without increasing costs. Tests in different scenarios have shown that the aforementioned effects are indeed achieved.

[0060] In summary, the AVM (Autonomous View Monitor) included in this application uses a domain controller that listens for CMS (Continuous Management System) failure messages via the CAN bus. Upon triggering a message, the domain controller automatically displays the AVM interface on its screen, or separately displays the left and right camera feeds from the AVM, thus providing auxiliary compensation for the rear view display after CMS failure. Utilizing existing AVMs and cameras, the CMS host listens for its own anomalies and triggers corresponding messages. Upon triggering these messages, the domain controller automatically displays the AVM feed or the feeds from the left and right cameras. Users can view the domain controller's auxiliary compensation display when the CMS fails and the view is unavailable, effectively improving driving safety.

[0061] Next, with reference to the accompanying drawings, a domain controller auxiliary compensation system for CMS failure proposed according to an embodiment of this application is described.

[0062] Figure 4 This is a block diagram of a domain controller auxiliary compensation system for CMS failure according to an embodiment of this application.

[0063] like Figure 4 As shown, the domain control auxiliary compensation system 10 for CMS failure includes: CMS host module 100, cockpit domain control module 200, panoramic imaging module 300 and display module 400.

[0064] The CMS host module 100 is used to monitor abnormal states and generate auxiliary compensation messages, which are sent via the CAN bus. The cockpit domain control module 200 includes an MCU and an MPU. After the MCU detects the auxiliary compensation message, the MPU calls the video signal from the panoramic imaging system and displays the panoramic image stitched image or the independent image captured by the target camera on the domain control display screen according to the configuration requirements. The panoramic imaging module 300 includes a left camera and a right camera, which are used to provide video signals to the cockpit domain control module. The display module 400 is used to respond to MPU commands and display the panoramic image stitched image or the independent images from the left and right cameras.

[0065] It should be noted that the explanation of the domain controller auxiliary compensation method embodiment for CMS failure described above also applies to the domain controller auxiliary compensation system for CMS failure in this embodiment, and will not be repeated here.

[0066] According to the domain controller auxiliary compensation system for CMS failure proposed in this application, when the CMS host detects that it is in an abnormal state, it can generate and send auxiliary compensation messages in a timely manner, which are quickly transmitted to the cockpit domain controller via the CAN bus. When the CMS fails (such as black screen, frozen frame, or module failure) and cannot recover on its own, the domain controller listens to the failure messages sent by the CMS host and automatically switches to the AVM display interface or displays the images from the left and right cameras separately, ensuring that the driver can obtain the necessary rear view information under any circumstances, thereby significantly improving driving safety. It makes full use of the AVM system already equipped in the vehicle and its camera resources in the four directions of front, rear, left and right, without adding additional hardware costs, and achieves effective compensation in the case of CMS failure, reducing the complexity and cost of the system.

[0067] Figure 5 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0068] The memory 501, the processor 502, and the computer program stored on the memory 501 and capable of running on the processor 502.

[0069] When processor 502 executes the program, it implements the domain controller auxiliary compensation method for CMS failure provided in the above embodiments.

[0070] Furthermore, the vehicle also includes:

[0071] Communication interface 503 is used for communication between memory 501 and processor 502.

[0072] The memory 501 is used to store computer programs that can run on the processor 502.

[0073] The memory 501 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0074] If the memory 501, processor 502, and communication interface 503 are implemented independently, then the communication interface 503, memory 501, and processor 502 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 5 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0075] Optionally, in a specific implementation, if the memory 501, processor 502, and communication interface 503 are integrated on a single chip, then the memory 501, processor 502, and communication interface 503 can communicate with each other through an internal interface.

[0076] Processor 502 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0077] This application also provides a computer-readable storage medium storing a computer program or instructions thereon, which, when executed by a processor, implements the domain controller-assisted compensation method for CMS failure as described above.

[0078] This application also provides a computer program product, including a computer program or instructions, characterized in that, when the computer program or instructions are executed, they implement the domain controller auxiliary compensation method for CMS failure as described above.

[0079] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0080] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0081] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0082] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or more of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0083] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

Claims

1. A domain controller-assisted compensation method for CMS failure, characterized in that, The method is applied to the cockpit domain control module, and the method includes the following steps: Listen for auxiliary compensation messages sent by the CMS host in an abnormal state; The auxiliary compensation message is uploaded to the MPU, which then calls the video signal from the panoramic imaging system and displays the panoramic image stitched image or the independent image captured by the target camera on the domain control display screen according to the configuration requirements.

2. The domain controller-assisted compensation method for CMS failure according to claim 1, characterized in that, The display of panoramic image stitching or independent images captured by the target camera on the domain control display screen is dynamically configured through the UDS diagnostic protocol according to configuration requirements.

3. The domain controller-assisted compensation method for CMS failure according to claim 2, characterized in that, The method of displaying panoramic image stitching or independent images captured by the target camera on the domain control display screen according to configuration requirements also includes: Configuration parameters can be written to non-volatile memory via the UDS diagnostic tool, or the configuration parameters can be manually modified according to user needs and saved via the UDS protocol.

4. A domain controller-assisted compensation method for CMS failure, characterized in that, The method is applied to a CMS host module, and the method includes the following steps: Identify the current status of the CMS host; If the current state is an abnormal state, an auxiliary compensation message is generated and sent to the cockpit domain controller via the CAN bus. After the MCU of the cockpit domain controller captures the auxiliary compensation message, it uploads the auxiliary compensation message to the MPU. The MPU calls the video signal of the panoramic imaging system and displays the panoramic image stitching screen or the independent image captured by the target camera on the domain controller display screen according to the configuration requirements.

5. The domain controller-assisted compensation method for CMS failure according to claim 4, characterized in that, The abnormal states include black screen, frozen frame, and module failure.

6. The domain controller-assisted compensation method for CMS failure according to claim 5, characterized in that, After the current state becomes an abnormal state, the following is included: Identify the fault level of CMS failure; Perform the corresponding recovery operation according to the fault level. If the recovery cannot be completed within the target number of attempts, generate an auxiliary compensation message and send it to the CAN bus.

7. A domain controller auxiliary compensation system for CMS failure, characterized in that, include: The CMS host module is used to monitor abnormal states and generate auxiliary compensation messages, which are sent via the CAN bus. The cockpit domain control module includes an MCU and an MPU. After the MCU detects an auxiliary compensation message, the MPU calls the video signal of the panoramic imaging system and displays the panoramic image stitched image or the independent image captured by the target camera on the domain control display screen according to the configuration requirements. The panoramic imaging module includes a left camera and a right camera, which are used to provide video signals to the cockpit domain control module; The display module is used to respond to MPU commands and display panoramic image stitching or independent images from the left and right cameras.

8. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the domain controller-assisted compensation method for CMS failure as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program or instructions stored thereon, characterized in that, When the computer program or instructions are executed by the processor, they are used to implement the domain controller-assisted compensation method for CMS failure as described in any one of claims 1-6.

10. A computer program product, comprising a computer program or instructions, characterized in that, When the computer program or instructions are executed, they implement the domain controller-assisted compensation method for CMS failure as described in any one of claims 1-6.

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