Vehicle synchronization control method and device, vehicle and electronic equipment

Abstract

The invention provides a vehicle synchronization control method and device, a vehicle and electronic equipment, and the method comprises the steps: obtaining a synchronization control message through a main controller, sending a state query request to all opponent controllers through the main controller, and if the main controller receives the state feedback target messages of all opponent controllers, sending a state query request to all opponent controllers; the state feedback target message comprises wakeup and ready driving, a synchronous control instruction is sent to all the opponent controllers through the main controller, the main controller controls the corresponding target object to execute the synchronous control instruction at an interval of first preset time, and when the opponent controller receives the synchronous control instruction, the opponent controller sends the synchronous control instruction to the corresponding target object. The corresponding target object is immediately controlled to execute the synchronization control instruction, the control synchronism of different target objects is improved under the condition of not depending on hardware and a complex algorithm, and the user experience is improved.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of vehicles, and in particular to a vehicle synchronization control method and device, a vehicle, and an electronic device. BACKGROUND

[0002] With the improvement of vehicle intelligence, vehicle body distributed controllers are integrated into domain controllers. From a single controller controlling left and right rearview mirrors to different controllers controlling left and right rearview mirrors respectively.

[0003] In actual use, there is often a problem of different synchronization of left and right rearview mirrors, or a certain rearview mirror does not execute the corresponding unfolding or folding instruction, resulting in low user experience. SUMMARY

[0004] Embodiments of the present application provide a vehicle synchronization control method and device, a vehicle, and an electronic device to solve the technical problem that in related technologies, left and right rearview mirrors are controlled by different controllers, and in actual use, there is often a problem of different synchronization of left and right rearview mirrors, or a certain rearview mirror does not execute the corresponding unfolding or folding instruction, resulting in low user experience.

[0005] A vehicle synchronization control method provided by an embodiment of the present application includes: a master controller acquiring a synchronization control message, the synchronization control message including a synchronization control instruction for at least two target objects, at least one target object being controlled by the master controller, and the remaining target objects being controlled by one or more opponent controllers other than the master controller; the master controller sending a state query request to all opponent controllers; if the master controller receives state feedback target messages from all opponent controllers, the master controller sends the synchronization control instruction to all opponent controllers, the state feedback target message including that the wake-up and drive are ready; the master controller controls the corresponding target object to execute the synchronization control instruction at a first preset time interval, and when the opponent controller receives the synchronization control instruction, the opponent controller controls the corresponding target object to execute the synchronization control instruction immediately.

[0006] In an embodiment of the present application, the master controller sends a state query request to all opponent controllers, including: the master controller sends a state query request to all opponent controllers at a second preset time interval until the master controller receives state feedback target messages from all opponent controllers, or the number of times of sending the state query request reaches a preset number threshold.

[0007] In an embodiment of the present application, the method further comprises: if the state feedback non-target message of the at least one opponent controller is received and the number of times of sending the state query request is less than the preset number threshold, controlling the main controller to continue to send the state query request to all the opponent controllers at intervals of a second preset time, wherein the state feedback non-target message comprises a driving not ready.

[0008] In an embodiment of the present application, the main controller sends the state query request to all the opponent controllers at intervals of a second preset time, comprising: the main controller sends the state query request to all the opponent controllers at intervals of a second preset time based on a software heartbeat detection mechanism; or the main controller sends the state query request to all the opponent controllers at intervals of a second preset time, and the state query request is an ETH network segment message or a CAN network segment message.

[0009] In an embodiment of the present application, the state query request and the state feedback target message both comprise a request identifier, and the request identifier is used to identify the target object.

[0010] In an embodiment of the present application, the target object is a vehicle rearview mirror or a vehicle lamp, and one controller controls one target object.

[0011] In an embodiment of the present application, before the main controller sends the state query request to all the opponent controllers, the method further comprises: obtaining driving control data of the main controller; and if the driving control data satisfies a preset driving control condition, triggering the step of sending the state query request to all the opponent controllers by the main controller.

[0012] The embodiment of the present application further provides a vehicle synchronous control device, comprising: a main controller and at least one opponent controller, wherein: the main controller is used to obtain a synchronous control message, the synchronous control message comprising a synchronous control instruction for at least two target objects, at least one target object being controlled by the main controller and the rest of the target objects being controlled by one or more opponent controllers other than the main controller; the main controller is further used to send a state query request to all the opponent controllers; if the main controller receives a state feedback target message of all the opponent controllers, the state feedback target message comprising a wake-up and a driving ready, the main controller is further used to send the synchronous control instruction to all the opponent controllers; the main controller is further used to control the corresponding target object to execute the synchronous control instruction at intervals of a first preset time; and the opponent controller is used to control the corresponding target object to execute the synchronous control instruction immediately when the synchronous control instruction is received.

[0013] The embodiment of the present application also provides a vehicle for executing the steps of the method according to any one of the above-mentioned embodiments, or the vehicle comprises the vehicle synchronous control device according to any one of the above-mentioned embodiments.

[0014] The embodiment of the present application also provides an electronic device comprising a memory having a computer program stored thereon, and a processor configured to execute the computer program in the memory to implement the steps of the method according to any one of the above-mentioned embodiments.

[0015] The embodiment of the present application also provides a computer readable storage medium having a computer program stored thereon, and the computer program is configured to make a computer execute the method according to any one of the above-mentioned embodiments.

[0016] The beneficial effects of the present application: the vehicle synchronous control method, device, vehicle and electronic device provided by the embodiment of the present application, the method acquires the synchronous control message through the master controller, the master controller sends a state query request to all opponent controllers, if the master controller receives the state feedback target message of all opponent controllers, the state feedback target message comprises a wake-up and a driving ready, the master controller sends a synchronous control instruction to all opponent controllers, the master controller controls the corresponding target object to execute the synchronous control instruction at intervals of a first preset time, and when the opponent controller receives the synchronous control instruction, the corresponding target object executes the synchronous control instruction immediately, without relying on hardware and complex algorithms, the control synchronization of different target objects is improved, and the user experience is improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application. It is apparent that the accompanying drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0018] In the drawings: Figure 1 An application scenario schematic diagram of a vehicle synchronous control method provided by an embodiment of the present application; Figure 2 An application scenario schematic diagram of a vehicle synchronous control method provided by an embodiment of the present application when applied to rearview mirror control; Figure 3 A flowchart of a vehicle synchronous control method provided by an embodiment of the present application; Figure 4 A specific flowchart of a vehicle synchronous control method provided by an embodiment of the present application; Figure 5A structural schematic diagram of a vehicle synchronous control device provided by an embodiment of the present application is shown in the figure; Figure 6 A structural schematic diagram of an electronic device provided by an embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0019] The advantages and effects of the present application can be easily understood by those skilled in the art from the description. The present application can also be implemented or applied in different specific embodiments, and the details in the description can be modified or changed based on different views and applications without departing from the spirit of the present application. The following embodiments and features in the embodiments can be combined with each other without conflict.

[0020] It should be noted that the diagrams provided in the following embodiments only schematically illustrate the basic concept of the present application, and the figures only show the components related to the present application without showing the number, shape and size of the components in actual implementation. The shape, number and ratio of the components in actual implementation can be randomly changed, and the layout of the components can be more complex.

[0021] In the following description, a large number of details are discussed to provide a more thorough explanation of the embodiments of the present application. However, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details, and in other embodiments, the known structures and devices are shown in the form of block diagrams instead of details to avoid making the embodiments of the present application difficult to understand.

[0022] In the scenario of controlling left and right rearview mirrors by different controllers, the inventor found that in the hibernation wake-up stage, if the wake-up times of the two controllers are different, there is a problem of different synchronization of the two rearview mirrors or loss of instructions. Therefore, the embodiments of the present application provide a state query mechanism. For the rearview mirrors deployed on different domain controllers, the domain controllers first obtain the synchronization state and then perform control actions to avoid different synchronization of left and right rearview mirrors or loss of instructions. The vehicle synchronous control method provided by the embodiments of the present application obtains a synchronization control message by a master controller, the master controller sends a state query request to all opponent controllers, if the master controller receives state feedback target messages of all opponent controllers, the state feedback target messages include that the wake-up and driving are ready, the master controller sends a synchronization control instruction to all opponent controllers, the master controller controls the corresponding target objects to execute the synchronization control instruction at intervals of a first preset time, and when the opponent controller receives the synchronization control instruction, the corresponding target objects immediately execute the synchronization control instruction. In the case of not relying on hardware and complex algorithms, the control synchronization of different target objects is improved, and the user experience is improved.

[0023] Please see Figure 1 , Figure 1 This is a schematic diagram illustrating an application scenario of a vehicle synchronization control method provided in an embodiment of this application. For example... Figure 1 As shown, taking the control of the left and right rearview mirrors of vehicle 110 as an example, the two rearview mirrors are controlled by different controllers, one as the main controller and the other as the counterpart controller. When the main controller receives a synchronization control message, this message instructs the rearview mirror to unfold, sends a status query request to the counterpart controller, and receives the status feedback target message from the counterpart controller. Then, it sends a synchronization control command to the counterpart controller and starts timing. Once the counterpart controller receives the synchronization control command, it controls its corresponding rearview mirror to unfold. After a first preset time interval, the main controller controls its corresponding rearview mirror to unfold. In this way, the problem of control asynchrony caused by communication delay between different controllers can be eliminated simply and reliably, and the problem of command loss caused by asynchronous wake-up of different controllers during the sleep-wake phase can also be eliminated, improving the synchronization of rearview mirror control and enhancing the user experience.

[0024] Please see Figure 2 , Figure 2 This is a schematic diagram illustrating an application scenario of a vehicle synchronization control method provided in this application when applied to rearview mirror control. For example... Figure 2 As shown, the CDC (Cockpit Domain Controller) is connected to BCM_1 (main controller) via ETH, BCM_1 is connected to BCM_2 (opposite controller) via ETH, BCM_1 is connected to the left rearview mirror via a hardwired signal, and BCM_2 is connected to the right rearview mirror via a hardwired signal.

[0025] Scene 1: The rearview mirror lock car automatic folding option is provided on the CDC (Cockpit Domain Controller), and the user can select to turn on or turn off the lock car rearview mirror automatic folding function. If the user selects to turn on, after the vehicle is locked, the BCM_1 judges that the vehicle anti-theft state will jump to the set defense state, the BCM_1 drives the left rearview mirror hung below itself to execute the folding action, and the BCM_1 issues an instruction to the BCM_2, and the BCM_2 drives the left rearview mirror hung below itself to execute the folding action. After the lock car rearview mirror automatic folding is turned on, the unlock rearview mirror automatic unfolding function will be turned on synchronously. When the vehicle is unlocked next time, the BCM_1 judges that the vehicle anti-theft state will jump to the defense release state, the BCM_1 drives the left rearview mirror hung below itself to execute the folding action, and the BCM_1 issues an instruction to the BCM_2, and the BCM_2 drives the left rearview mirror hung below itself to execute the folding action. The inventor finds that when the vehicle is unlocked in the whole vehicle sleep state, there is a time difference in the power-on wake-up of the BCM_1 and the BCM_2. When the BCM_1 judges that the condition for driving the rearview mirror is met, the BCM_2 has not woken up when the instruction is issued to the BCM_2, so the BCM_2 control instruction is lost, and the right rearview mirror will not execute the unfolding action.

[0026] Scene 2: The BCM_1 as the master controller receives the unfolding or folding instruction, and then drives the left rearview mirror after issuing an instruction to the BCM_2. The inventor finds that when the BCM_2 receives the instruction of the BCM_1, the right rearview mirror is driven, and there is a difference in the starting time of the left and right rearview mirrors. In the case of a large difference, the user will perceive that the left and right rearview mirrors are not folded synchronously, which affects the user experience.

[0027] It should be noted that the above scene is only an example of an application scenario provided by the embodiments of the present application, and the actual form of various devices, components and the like included in the scene is not limited in the embodiments of the present application. In the specific application of the scheme, it can be set according to the actual needs. The number of the opponent controller can also be multiple, and the above example is only taken as an example. Please refer to Figure 3 , Figure 3 A flowchart of a vehicle synchronous control method provided by an embodiment of the present application is shown in Figure 3 The method comprises the following steps: Step S310, the master controller acquires a synchronous control message.

[0028] The synchronous control message comprises a synchronous control instruction for at least two target objects. At least one target object is controlled by the master controller, and the remaining target objects are controlled by one or more opponent controllers other than the master controller.

[0029] In an embodiment, the target objects are vehicle rearview mirrors or vehicle lights. For example, the synchronization control message can be a control message for expanding or folding the left and right rearview mirrors, a control message for turning on the left and right wide lights, a control message for turning on the left and right tail lights, or a control message for turning on all the vehicle lights, a control message for displaying the same pattern on the left and right vehicle lights, etc.

[0030] In an embodiment, one controller controls one target object. Of course, it can also be that, for example, 3 controllers control 5 target objects, etc.

[0031] The manner of obtaining the synchronization control message can be set by those skilled in the art as needed, and will not be described here.

[0032] In step S320, the main controller sends a state query request to all the opponent controllers.

[0033] In an embodiment, the main controller sends a state query request to all the opponent controllers, including: the main controller sends a state query request to all the opponent controllers at intervals of a second preset time until the main controller receives a state feedback target message from all the opponent controllers, or the number of times of sending the state query request reaches a preset number threshold. If the opponent controller is not awakened, it will not react to the state query request. If the opponent controller is awakened, it will generate a related feedback message about whether the drive is ready according to whether its own state meets the drive control condition.

[0034] In the above embodiment, the main controller sends a state query request to all the opponent controllers at intervals of a second preset time, including: the main controller sends a state query request to all the opponent controllers at intervals of a second preset time based on a software heartbeat detection mechanism; or the main controller sends a state query request to all the opponent controllers at intervals of a second preset time, and the state query request is an ETH (Ethernet) network segment message or a CAN (Controller Area Network) network segment message. The above are only a few examples, and those skilled in the art can also send the state query request at intervals based on other known technologies.

[0035] In an embodiment, before the main controller sends a state query request to all the opponent controllers, the method further includes: obtaining drive control data of the main controller; if the drive control data meets a preset drive control condition, triggering the step of the main controller sending a state query request to all the opponent controllers.

[0036] In the above embodiment, when the method is applied to rearview mirror control, the preset drive control condition includes at least one of: the vehicle anti-theft state will change to the anti-theft state, the rearview mirror unlocking automatic expansion function has been turned on, the current drive control module has not reported a fault that affects control, etc., wherein the fault includes but is not limited to, for example, overcurrent, short circuit, etc.

[0037] As an example, continuing to refer to Figure 2 , for the rearview mirror unlocking rearview mirror automatic unfolding function, when the vehicle is unlocked, the BCM_1 judges that the vehicle anti-theft state will jump to the anti-theft, the rearview mirror unlocking automatic unfolding function is turned on, the current drive control module does not report the fault affecting control, and it is considered that the preset drive control condition is met. The preset drive control condition can be set by those skilled in the art according to different target objects and different control scenarios as needed.

[0038] As an example, the main controller and the opponent controller can be a vehicle body domain controller or other controllers designated by those skilled in the art.

[0039] Step S330, if the main controller receives the state feedback target message of all opponent controllers, the main controller sends a synchronous control instruction to all opponent controllers.

[0040] The state feedback target message includes that the wake-up and the drive are ready.

[0041] Through the state query, it can be ensured that the opponent controller is in the wake-up state and is ready to execute the corresponding control instruction, avoiding the loss of the control instruction due to its sleep and the like, and further avoiding the asynchronous control.

[0042] In an embodiment, the state query request and the state feedback target message both include a request identifier, and the request identifier is used to identify the target object.

[0043] It can be understood that the feedback message fed back by the opponent controller to the main controller needs to carry the identifier of the target object in the state query request, so that it can be distinguished whether the obtained feedback message is the required state feedback message.

[0044] As an example, continuing to refer to Figure 2 , when the BCM_2 rearview mirror control module replies to the BCM_1 rearview mirror control module, the request ID: 0x1000 needs to be carried, and the subsequent other SWC (Software Component, software module) can use the request ID number to distinguish whether it is the reply of the opponent SWC. Please refer to Table 1, which is the BCM_1 query request format (an example of the data format of the state query request). Please refer to Table 2, which is the BCM_2 reply request format (an example of the data format of the state feedback message). For 2, the unused position is filled with 0x0 by default.

[0045] Table 1

[0046] Table 2

[0047] In an embodiment, the method further comprises: if the state feedback non-target message of the at least one opponent controller is received, and the number of times of sending the state query request is less than a preset number threshold, the master controller continues to send the state query request to all the opponent controllers at intervals of a second preset time, wherein the state feedback non-target message comprises a driving not ready. Assuming that the master controller receives the feedback message of the opponent controller, but the feedback is not ready, the feedback message is not the state feedback target message, and the state query continues until the preset number threshold is reached or the feedback is ready.

[0048] The state feedback message comprises a state feedback non-target message and a state feedback target message. The difference between the two is whether the driving is ready.

[0049] As an example, once the feedback message of the feedback of the opponent controller is received, it can also be considered that the opponent controller has woken up, and there is no need to create a wake-up identification bit in the state feedback target message.

[0050] Step S340, the master controller controls the corresponding target object to execute the synchronization control instruction at intervals of a first preset time, and when the opponent controller receives the synchronization control instruction, it immediately controls the corresponding target object to execute the synchronization control instruction.

[0051] The first preset time can be determined by calibration, or can be determined by other ways known to those skilled in the art. Through the first preset time, the problem of control asynchronization caused by network delay and other factors can be offset.

[0052] Continuing to refer to Figure 2, for scenario 1, if the method provided in the embodiment is used, taking the example of unlocking the automatic unfolding function of the rearview mirror, when the vehicle is unlocked, the BCM_1 judges that the whole vehicle anti-theft state will jump to the anti-theft state, and other rearview mirror driving control conditions (such as the rearview mirror unlocking automatic unfolding function has been started, the current driving control module does not report the fault affecting control) are satisfied (satisfy the preset driving control condition), first through the state query mechanism, query whether BCM_2 is awakened, whether the driving is ready, if BCM_2 feedback state 1: 0x1 has been awakened, and BCM_2 feedback state 2: 0x1 driving has been ready, after BCM_1 receives the state query feedback (state feedback target message) of BCM_2, sends the control instruction (synchronous control instruction) to BCM_2, and BCM_2 receives the control instruction and drives the right rearview mirror immediately. BCM_1 starts timing from sending the instruction to BCM_2, and drives the left rearview mirror after a first preset time T1. Wherein, T1 is a calibratable quantity, which is the actual measured time from sending the control instruction to BCM_2 to receiving by BCM_2. The query request is sent once every second preset time T2, T2 is defined according to the actual functional requirements of different vehicles and architectures, and at most 3 times (taking the preset number of times threshold as 3 times for example). If the queried state is OK within 3 times, stop sending new state query request, if the query times is not 3 times, not received or received any demand query state is not satisfied, continue to send query request. More than 3 times not received or received any demand query state is not satisfied, BCM_1 judges that the current BCM_2 state is not satisfied, does not send the rearview mirror control instruction to BCM_2, and does not drive the left rearview mirror. Through the state query mechanism, the asynchronization caused by not awakening at the same time and communication time can be eliminated.

[0053] Continuing to refer to Figure 2, for scenario 2, if the method provided in the embodiment is used, taking the normal folding and unfolding function as an example, when the BCM_1 receives the unfolding or folding instruction, it first judges whether the rearview mirror control precondition (such as the rearview mirror unlocking automatic unfolding function has been turned on, the current drive control module has not reported a fault affecting control) meets (whether the preset drive control condition is met). If it is met, the state query mechanism is used to query the BCM_2 wake-up and drive state. If the BCM_2 feedback state 1: 0x1 has woken up, and the BCM_2 feedback state 2: 0x1 drive is ready, the BCM_1 sends a control instruction to the BCM_2, and then delays for a second preset time T2 to drive the left rearview mirror action. When the BCM_1 receives the instruction, it immediately drives the right rearview mirror. If more than 3 queries do not feedback the state, or the feedback state is all BCM_2 feedback state 1: 0x0 not woken up or BCM_2 feedback state 2: 0x0 drive not ready, the BCM_1 determines that the current BCM_2 state does not meet the requirement, and does not send a rearview mirror control instruction to the BCM_2, nor does it drive the left rearview mirror. Through the state query mechanism, the rearview mirror folding action can be synchronized.

[0054] The vehicle synchronous control method provided in the above embodiment acquires a synchronous control message through a master controller, the master controller sends a state query request to all opponent controllers, if the master controller receives state feedback target messages of all opponent controllers, the state feedback target messages include that the wake-up and the drive are ready, the master controller sends a synchronous control instruction to all opponent controllers, the master controller controls the corresponding target object to execute the synchronous control instruction at intervals of a first preset time, and when the opponent controller receives the synchronous control instruction, it immediately controls the corresponding target object to execute the synchronous control instruction. Without relying on hardware and complex algorithms, the control synchronization of different target objects is improved, and the user experience is improved.

[0055] The vehicle synchronous control method provided in the above embodiment also has the following beneficial effects: through the state query mechanism, the problem of instruction loss caused by different controllers waking up asynchronously in the sleep wake-up stage can be eliminated, especially the high perception problem of rearview mirrors, turn signals and the like that need to be synchronized. The control asynchronization problem caused by different controllers due to communication delay can also be simply and reliably eliminated, especially the high perception problem of rearview mirrors, turn signals and the like that need to be synchronized. The state query mechanism can be applied to all functions driven by different controllers and needing to be synchronized, and different signal bearing methods can be selected based on the vehicle body architecture, such as software heartbeat or CAN, Ethernet signal, etc.

[0056] For high perception functions of actuators driven by different controllers, through a state query mechanism, the main logic controller (main controller) can obtain the required state of the opponent controller, and set a communication delay T1 which can be calibrated, without relying on hardware and complex algorithms, to simply, reliably and effectively solve the problem of missing instructions from the main controller to the opponent controller after hibernation and wake-up, the communication delay problem of the main controller and the opponent controller driving normally, and improve the user experience.

[0057] Continuing with the scenario shown in Figure 2 , please refer to Figure 4 , Figure 4 A specific flowchart of a vehicle synchronization control method provided by an embodiment of the present application is shown in Figure 4 , which includes the following steps: after starting, the whole vehicle is unlocked to start waking up, the CDC unlocks the automatic expansion function of the rearview mirror, the BCM_1 judges whether the anti-theft jump is resolved, and other preconditions of the rearview mirror are met, if not, the process is ended; if yes, the BCM-1 sends a state query request to the BCM-2 and starts timing T2, if the BCM-1 sends a state query request to the BCM-2, the BCM_2 judges the state (whether to wake up, whether to be ready) and feeds back the state, if the BCM_2 does not feed back the state feedback message, the BCM-1 continues to send the state query request and accumulates the number n of state query requests, if the BCM_2 feeds back the state feedback message, the BCM-1 receives the feedback state and judges whether it meets the requirements, that is, whether it is the feedback state feedback target message, if yes, the BCM-1 issues a control instruction (synchronization control instruction) to the BCM-2 and starts timing T1, the BCM-2 receives the control instruction and immediately drives the right rearview mirror, if the BCM-2 does not receive the control instruction, the process is ended. If T1 timing reaches, the BCM-1 drives the left rearview mirror. If the number n of state query requests sent by the BCM-1 does not exceed 3 times, no feedback state feedback target message is received, and T2 timing reaches, the state query request is continued to be sent, if it reaches 3 times, the process is ended. If the number of state query requests sent by the BCM-1 does not exceed 3 times but T2 timing does not reach, wait until T2 timing reaches, and then send the state query request by the BCM-1 again to continue the counting n.

[0058] In an embodiment, a vehicle synchronization control device is provided for executing the vehicle synchronization control method provided by any of the above embodiments. Please refer to Figure 5 , Figure 5 A structural diagram of the vehicle synchronization control device provided by an embodiment of the present application is shown in Figure 5As shown, the vehicle synchronous control apparatus 500 comprises a main controller 510 and at least one opponent controller 520, wherein: the main controller 510 is configured to acquire a synchronous control message, the synchronous control message comprising synchronous control instructions for at least two target objects, the at least two target objects being controlled by the main controller 510 and the rest of the target objects being controlled by one or more opponent controllers 520 other than the main controller 510; the main controller 510 is further configured to send a state query request to all the opponent controllers 520; if the main controller 510 receives state feedback target messages from all the opponent controllers 520, the state feedback target messages comprising that the target objects have woken up and are ready to be driven, the main controller 510 is further configured to send the synchronous control instructions to all the opponent controllers 520; the main controller 510 is further configured to control the corresponding target objects to execute the synchronous control instructions at intervals of a first preset time; and the opponent controller 520 is configured to control the corresponding target objects to execute the synchronous control instructions immediately upon receiving the synchronous control instructions.

[0059] The specific limitations of the vehicle synchronous control apparatus can refer to the limitations of the vehicle synchronous control method in the foregoing, which will not be repeated here. Each module in the vehicle synchronous control apparatus can be implemented by software, hardware, or a combination thereof, in whole or in part. Each module can be embedded in or independent of the processor in the electronic device in hardware form, or stored in the memory in the electronic device in software form, so that the processor can call and execute the operations corresponding to each module.

[0060] In this embodiment, the vehicle synchronous control apparatus is essentially provided with a plurality of modules to execute the vehicle synchronous control method in any of the above embodiments. The specific functions and technical effects can refer to the above embodiments, which will not be repeated here.

[0061] In an embodiment, a vehicle is provided for executing the vehicle synchronous control method provided in any of the above embodiments, or comprising a vehicle synchronous control apparatus as shown. Figure 5

[0062] The specific limitations of the vehicle can refer to the limitations of the vehicle synchronous control method in the foregoing, which will not be repeated here. Each module in the vehicle can be implemented by software, hardware, or a combination thereof, in whole or in part. Each module can be embedded in or independent of the processor in the electronic device in hardware form, or stored in the memory in the electronic device in software form, so that the processor can call and execute the operations corresponding to each module.

[0063] In this embodiment, the vehicle is essentially provided with a plurality of modules to execute the method executed on the vehicle end side in the vehicle synchronous control method in any of the above embodiments. The specific functions and technical effects can refer to the above embodiments, which will not be repeated here. ​

[0064] See Figure 6 , Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown below. Figure 6 As shown, this embodiment of the invention also provides an electronic device 600, including a processor 601, a memory 602, and a communication bus 603; the communication bus 603 is used to connect the processor 601 and the memory 602; the processor 601 is used to execute a computer program stored in the memory 602 to implement the method described in any of the above embodiments.

[0065] This invention also provides a computer-readable storage medium having a computer program stored thereon, the computer program being used to cause a computer to perform the method provided in any of the above embodiments.

[0066] This application also provides a non-volatile readable storage medium storing one or more modules (programs) that, when applied to a device, enable the device to execute the instructions included in the steps provided in this application.

[0067] This application also provides a computer program product, including a computer program that, when executed by a processor, can implement the steps and corresponding content of the aforementioned method embodiments.

[0068] Note that the computer readable medium described above can be a computer readable signal medium or a computer readable storage medium or any combination thereof. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any suitable combination of the foregoing. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the disclosure, the computer readable storage medium can be any tangible medium that contains or stores a program used by or in connection with an instruction execution system, apparatus or device. In the disclosure, the computer readable signal medium can include a computer readable program code propagated on or through a computer readable medium, in baseband or as part of a carrier wave. The computer readable signal medium can be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate or transport a program for use by or in connection with an instruction execution system, apparatus or device. Program code embodied on a computer readable medium can be transmitted using any appropriate medium, including but not limited to wireless, wire line, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0069] The computer readable medium described above can be included in the electronic device described above; alternatively, the computer readable medium can exist as a separate entity in which the electronic device is incorporated.

[0070] Computer program code for carrying out operations of the present disclosure 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).

[0071] The computer program product of the present disclosure can be a computer program product, which is a machine-readable medium (media) having exact sequences of instructions, program, code segments, routines, subroutines, programs, functions, objects, processing options / script modules, firmware, and / or software (collectively referred to as the "computer program product" or the "computer program element(s)"). Furthermore, the methods described herein can be implemented on personal computers, server computers, handheld devices, tablet PCs, laptop computers, communication devices, gaming devices, consumer electronics, any other computing device, or any suitable combination thereof.

[0072] It should be understood that the terms "first", "second" and the like, if any, are used herein for distinguishing between similar objects and not necessarily for describing a sequential or chronological order. The terms are interchangeable under appropriate circumstances and the embodiments of the application described herein can operate in other sequences than described or illustrated herein.

[0073] It is to be understood that the flowchart and block diagrams illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams can represent a module, segment, or portion 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 out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks can sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flowchart illustrations, and combinations thereof, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or combinations of hardware and software.

[0074] The above-described embodiments are merely illustrative for the principles of the application and the effect thereof, and are not used to limit the application. Any person skilled in the art can modify or change the above-described embodiments without departing from the spirit and scope of the application. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical idea of the application should be covered by the claims of the application.

Claims

1. A vehicle synchronization control method characterized by comprising: The method comprises: The main controller acquires a synchronization control message, the synchronization control message comprising synchronization control instructions for at least two target objects, at least one target object being controlled by the main controller and the rest of the target objects being controlled by one or more opponent controllers other than the main controller; The main controller sends a state query request to all opponent controllers; If the main controller receives state feedback target messages from all opponent controllers, the main controller sends the synchronization control instructions to all opponent controllers, the state feedback target messages comprising that the target objects have been woken up and are ready to be driven; The main controller controls the corresponding target objects to execute the synchronization control instructions at intervals of a first preset time, and when the opponent controllers receive the synchronization control instructions, the corresponding target objects immediately execute the synchronization control instructions.

2. The vehicle synchronization control method according to claim 1, characterized by, The main controller sends a state query request to all opponent controllers, comprising: The main controller sends a state query request to all opponent controllers at intervals of a second preset time until the main controller receives state feedback target messages from all opponent controllers or the number of times of sending the state query request reaches a preset number threshold.

3. The vehicle synchronization control method according to claim 2, characterized by, The method further comprises: If a state feedback non-target message from at least one opponent controller is received and the number of times of sending the state query request is less than the preset number threshold, the main controller is controlled to continue sending a state query request to all opponent controllers at intervals of a second preset time, wherein the state feedback non-target message comprises that the target objects are not ready to be driven.

4. The vehicle synchronization control method according to claim 2, characterized by, The main controller sends a state query request to all opponent controllers at intervals of a second preset time, comprising: The main controller sends a state query request to all opponent controllers at intervals of a second preset time based on a software heartbeat detection mechanism; Or, The main controller sends a state query request to all opponent controllers at intervals of a second preset time, the state query request being an ETH network segment message or a CAN network segment message.

5. The vehicle synchronization control method according to any one of claims 1 to 4, characterized by, The state query request and the state feedback target message both comprise a request identifier, the request identifier being used to identify the target objects.

6. The vehicle synchronization control method according to any one of claims 1 to 4, characterized by, The target objects are vehicle rearview mirrors or vehicle lights, and one controller controls one target object.

7. The vehicle synchronization control method according to any one of claims 1 to 4, characterized by, Before the main controller sends a state query request to all opponent controllers, the method further comprises: Acquiring drive control data of the main controller; If the drive control data meets a preset drive control condition, triggering the step of the main controller sending a state query request to all opponent controllers.

8. A vehicle synchronization control device characterized by comprising: The device comprises a main controller and at least one opponent controller, wherein: The main controller is used to acquire a synchronization control message, the synchronization control message comprising synchronization control instructions for at least two target objects, at least one target object being controlled by the main controller and the rest of the target objects being controlled by one or more opponent controllers other than the main controller; The main controller is further used to send a state query request to all opponent controllers; If the master controller receives state feedback target messages from all of the opponent controllers, the master controller is further configured to send the synchronization control instruction to all of the opponent controllers, the state feedback target message including that the master controller has woken up and is ready to drive; The master controller is further configured to control the corresponding target object to execute the synchronization control instruction at intervals of a first preset time; The opponent controller is configured to control the corresponding target object to execute the synchronization control instruction immediately upon receiving the synchronization control instruction.

9. A vehicle characterized by comprising: The vehicle is configured to perform the steps of the method of any one of claims 1 to 7, or the vehicle comprises the vehicle synchronization control device of claim 8.

10. An electronic device, comprising: comprising: a memory having stored thereon a computer program; a processor configured to execute the computer program in the memory to implement the steps of the method of any one of claims 1 to 7.

Images