Vehicle controller, vehicle domain controller and vehicle

Abstract

The invention relates to a vehicle controller, a vehicle domain controller and a vehicle, and the vehicle controller comprises a first control module; the switching module is connected to the vehicle camera, the first control module and the second control module; and the third control module is connected to the first control module, the second control module and the switching module so as to control data transmission from the vehicle camera to the first control module and data transmission from the vehicle camera to the second control module. According to the invention, flexible data transmission configuration adaptive to the vehicle state is realized, and the transmission path and the processing strategy of the visual data can be dynamically switched according to different vehicle operation scenes and function requirements.

Description

TECHNICAL FIELD

[0001] The present application relates to a vehicle controller, a vehicle domain controller and a vehicle. BACKGROUND

[0002] With the rapid development of automobile intelligence and assisted driving technology, the importance of visual sensors (e.g., cameras) in vehicles is increasing, and the visual data generated by the visual sensors needs to be transmitted and processed between different control modules to support various applications (e.g., assisted driving, cockpit display).

[0003] In traditional vehicle control systems, cameras are usually directly connected to a single control module, such as an assisted driving control module or a cockpit control module. However, as vehicle functions become more complex, it is often necessary to provide visual data from the same camera to multiple control modules. For example, the data of a front-view camera needs to be used for both perception processing for autonomous driving functions and visualization for cockpit display systems.

[0004] In different working modes of a vehicle, such as normal driving mode, parking mode, sentinel mode, etc., the transmission requirements of visual data are different. The prior art lacks a flexible mechanism for dynamically switching the transmission path of visual data, making it difficult to meet the diversified needs of modern intelligent vehicles for visual data processing. SUMMARY

[0005] The present disclosure provides a vehicle controller, comprising: a first control module; and a switching module, wherein the switching module is connected to a vehicle camera, the first control module and a second control module; a third control module, wherein the third control module is connected to the first control module, the second control module and the switching module to control data transmission from the vehicle camera to the first control module and data transmission from the vehicle camera to the second control module.

[0006] In embodiments according to the present disclosure, the first control module comprises a first assisted driving control module, and the second control module comprises at least one of a cockpit control module and a second assisted driving control module.

[0007] In embodiments according to the present disclosure, the first control module and the second control module comprise SOC chips, and the third control module comprises an MCU chip.

[0008] In embodiments according to the present disclosure, the third control module is configured to send a data transmission control signal to at least one of the first control module, the second control module and the switching module to control data transmission from the vehicle camera to the first control module and data transmission from the vehicle camera to the second control module.

[0009] In embodiments according to the present disclosure, the third control module is configured to, in response to the vehicle controller being in the first mode, send a data transmission control signal to the switching module to cause the vehicle camera to transmit the visual data to the second control module, wherein the data transmission control signal is the first control signal.

[0010] In embodiments according to the present disclosure, the third control module is configured to, in response to the vehicle controller being in the second mode, send a data transmission control signal to the switching module and the first control module to cause the vehicle camera to transmit the visual data to the first control module and the first control module to transmit the visual data to the second control module, wherein the data transmission control signal is the second control signal.

[0011] In embodiments according to the present disclosure, the third control module is configured to, in response to the vehicle controller being in the third mode, send a data transmission control signal to the switching module to cause the vehicle camera to transmit the visual data to the first control module and the second control module, wherein the data transmission control signal is the third control signal.

[0012] In embodiments according to the present disclosure, the third control module is configured to, in response to the vehicle controller being in the fourth mode, send a data transmission control signal to the switching module and the second control module to cause the vehicle camera to transmit the visual data to the first control module and the second control module and the second control module to transmit the visual data to the first control module, wherein the data transmission control signal is the fourth control signal.

[0013] In embodiments according to the present disclosure, the third control module is configured to: determine a master module; when the master module is the first control module or the second control module, send a master selection signal to the master module among the first control module and the second control module to cause the master module to control data transmission from the vehicle camera to the first control module and data transmission from the vehicle camera to the second control module; and when the master module is the third control module, send a data transmission control signal to at least one of the first control module, the second control module, and the switching module to control data transmission from the vehicle camera to the first control module and data transmission from the vehicle camera to the second control module.

[0014] In embodiments according to the present disclosure, the third control module is configured to: in response to one of the first control module and the second control module being running and the other of the first control module and the second control module not being running, determine the module that is running among the first control module and the second control module as the master module; in response to both the first control module and the second control module being running, determine the first control module as the master module; and in response to neither the first control module nor the second control module being running, determine the third control module as the master module.

[0015] In embodiments according to the present disclosure, the master module is the second control module, and the second control module is configured to, in response to the vehicle controller being in the first mode and the second control module receiving the master selection signal, send a data transmission control signal to the switching module to cause the vehicle camera to transmit visual data to the second control module, wherein the data transmission control signal is the first control signal.

[0016] In embodiments according to the present disclosure, the master module is the first control module, and the first control module is configured to, in response to the vehicle controller being in the second mode and the first control module receiving the master selection signal, send a data transmission control signal to the switching module to cause the vehicle camera to transmit visual data to the first control module and to transmit the visual data to the second control module, wherein the data transmission control signal is the second control signal.

[0017] In embodiments according to the present disclosure, the master module is the first control module, and the first control module is configured to, in response to the vehicle controller being in the third mode and the first control module receiving the master selection signal, send a data transmission control signal to the switching module to cause the vehicle camera to transmit visual data to the first control module and the second control module, wherein the data transmission control signal is the third control signal.

[0018] In embodiments according to the present disclosure, the master module is the first control module, and the first control module is configured to, in response to the vehicle controller being in the fourth mode and the first control module receiving the master selection signal, send a data transmission control signal to the switching module and the second control module to cause the vehicle camera to transmit visual data to the first control module and the second control module, and the second control module to transmit the visual data to the first control module, wherein the data transmission control signal is the fourth control signal.

[0019] In embodiments according to the present disclosure, the vehicle controller further comprises a power module connected to the first control module and the switching module, wherein the power module is configured to, in response to receiving a power supply signal from the third control module, supply power to the first control module and / or the switching module.

[0020] The present disclosure also provides a vehicle domain controller comprising a vehicle controller as described in the present disclosure, and a second control module.

[0021] The present disclosure also provides a vehicle comprising a vehicle controller or a vehicle domain controller according to the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some of the exemplary embodiments of the present disclosure, and other embodiments can also be obtained by those of ordinary skill in the art without creative effort based on these embodiments.

[0023] In the drawings,

[0024] Figure 1 A structural schematic diagram of a vehicle controller according to an embodiment of the present disclosure is shown.

[0025] Figure 2 A schematic diagram of a data transmission path of a vehicle controller in a first mode according to an embodiment of the present disclosure is shown.

[0026] Figure 3 A schematic diagram of a data transmission path of a vehicle controller in a second mode according to an embodiment of the present disclosure is shown.

[0027] Figure 4 A schematic diagram of a data transmission path of a vehicle controller in a third mode according to an embodiment of the present disclosure is shown.

[0028] Figure 5 A schematic diagram of a data transmission path of a vehicle controller in a fourth mode according to an embodiment of the present disclosure is shown.

[0029] Figure 6 A schematic diagram of a data transmission path of a vehicle controller in a first mode according to an embodiment of the present disclosure is shown.

[0030] Figure 7 A schematic diagram of a data transmission path of a vehicle controller in a second mode according to an embodiment of the present disclosure is shown.

[0031] Figure 8 A schematic diagram of a data transmission path of a vehicle controller in a third mode according to an embodiment of the present disclosure is shown.

[0032] Figure 9 A schematic diagram of a data transmission path of a vehicle controller in a fourth mode according to an embodiment of the present disclosure is shown.

[0033] Figure 10 A structural schematic diagram of a vehicle controller according to an embodiment of the present disclosure is shown.

[0034] Figure 11 A vehicle domain controller according to an embodiment of the present disclosure is shown.

[0035] Figure 12A vehicle according to embodiments of the disclosure is shown. DETAILED DESCRIPTION

[0036] In order to make the objectives, technical solutions, and advantages of the present disclosure more apparent, the following will describe example embodiments according to the present disclosure in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments of the present disclosure, and it should be understood that the present disclosure is not limited to the example embodiments described herein.

[0037] In addition, in the present specification and drawings, substantially the same or similar steps and elements are denoted by the same or similar reference numerals, and repeated descriptions thereof will be omitted.

[0038] In addition, in the present specification and drawings, elements are described in singular or plural form according to embodiments. However, the selection of singular and plural forms for the proposed case is merely for convenience of explanation and is not intended to limit the present disclosure thereto. Therefore, the singular form can include the plural form, and the plural form can also include the singular form, unless the context clearly indicates otherwise.

[0039] In addition, in the present specification and drawings, the term "first / second" referred to is merely to distinguish similar objects, and does not represent a specific order for the objects, and it can be understood that "first / second" can be interchanged with a specific order or sequence as allowed, so that the embodiments of the present disclosure described herein can be implemented in an order other than that illustrated or described herein.

[0040] In addition, in the present specification and drawings, the terms "up", "down", "vertical", "horizontal", and the like used in relation to the orientation or positional relationship are merely used for convenience of description of embodiments according to the present disclosure, and are not intended to limit the present disclosure thereto. Therefore, it should not be understood as a limitation on the present disclosure.

[0041] With the development of technology, there are significant differences in the processing requirements of visual data of vehicles in different working modes. For example, in the sentinel mode or low-power monitoring state, the main auxiliary driving control module can be in a dormant state to save power, but the cabin display system still needs to receive camera data to provide basic security monitoring functions; in the normal driving mode, the auxiliary driving control module needs to process visual data with complex perception algorithms, while the cabin control module focuses on human-computer interaction and display functions; in the advanced automatic driving mode, in order to improve system reliability and processing efficiency, multiple control modules may need to receive and process the same visual data simultaneously to achieve redundant processing and cooperative computing. These different application scenarios require the visual data transmission system to have the ability to dynamically switch transmission paths to achieve optimal resource allocation and power management.

[0042] To at least address the above problems, the present disclosure provides a vehicle controller, comprising: a first control module; and a switching module, wherein the switching module is connected to a vehicle camera, the first control module and a second control module; and a third control module, wherein the third control module is connected to the first control module, the second control module and the switching module to control data transmission from the vehicle camera to the first control module and data transmission from the vehicle camera to the second control module.

[0043] Figure 1 A structural schematic diagram of a vehicle controller 100 according to an embodiment of the present disclosure is shown.

[0044] As shown in Figure 1 , the vehicle controller 100 at least comprises a first control module 101, a switching module 104 and a third control module 103.

[0045] According to some embodiments, the switching module 104 is connected to a vehicle camera 105 to transmit visual data of the surroundings of the vehicle collected by the vehicle camera 105 to the switching module 104 for further transmission to other modules within the vehicle controller 100 and / or other modules connected to the vehicle controller 100. According to some embodiments, the vehicle camera 105 can be a camera outside the vehicle controller 100, for example, a front camera installed near the rearview mirror inside the front windshield of the vehicle, which can be used for auxiliary driving functions such as front road monitoring, lane line recognition, traffic sign recognition and front vehicle distance detection, and / or a surround view camera installed around the vehicle, which can be used to provide a 360-degree panoramic view of the surroundings of the vehicle to provide functions such as parking assistance, blind area monitoring, low-speed driving and / or safety monitoring when the vehicle is stationary. According to other embodiments, the vehicle camera 105 can also be a camera integrated in the vehicle controller 100.

[0046] According to some embodiments, the switching module 104 is also connected to the first control module 101, the second control module 102 and the third control module 103, so that the switching module 104 realizes intelligent routing and distribution of visual data streams by receiving control instructions from the third control module 103 or from the master module (e.g., the first control module 101 or the second control module 102) determined by the third control module. For example, the third control module 103 generates corresponding control signals based on the current operating state of the vehicle, functional requirements and system resource conditions, and transmits the control signals to the switching module 104 through a dedicated control bus.

[0047] According to some embodiments, the switching module 104 integrates a high-performance digital signal processing unit and a multi-channel signal switching switch, enabling rapid reconfiguration of the data path upon receiving a control command. For example, when a first control signal is received, the switching module 104 is in bypass mode, allowing visual data from the vehicle camera 105 to bypass the first control module 101 and be directly transmitted to the second control module 102, thereby achieving low-power operation and fast response. As another example, when a second control signal is received, the switching module 104 is in serial transmission mode, ensuring that visual data from the vehicle camera 105 first flows to the first control module 101 for preprocessing, and then the processed data is forwarded to the second control module 102. As yet another example, when a third control signal is received, the switching module 104 is in parallel transmission mode, using an internal data copying and distribution mechanism to simultaneously transmit the same visual data to both the first and second control modules 101, achieving redundant processing and collaborative computation. For example, when the fourth control signal is received, the switching module 104 is in redundant transmission mode. In addition to transmitting the same visual data to the first control module 101 and the second control module 102 at the same time, it also establishes a reverse data channel from the second control module 102 to the first control module 101.

[0048] According to some embodiments, the third control module 103 is connected to the first control module 101 and the second control module 102 to control data transmission from the vehicle camera 105 to the first control module 101 and from the vehicle camera 105 to the second control module 102. According to some embodiments, the third control module 103 establishes a communication connection with the first control module 101 and the second control module 102 via a dedicated control bus, monitors the operating status, power consumption requirements, and processing capabilities of the two control modules in real time, and / or generates corresponding data transmission control strategies.

[0049] According to some embodiments, the third control module 103 can directly control the data transmission from the vehicle camera to the first control module and the data transmission from the vehicle camera to the second control module. According to some embodiments, the third control module 103 is configured to send a data transmission control signal to at least one of the first control module 101, the second control module 102, and the switching module 104 to control the data transmission from the vehicle camera 105 to the first control module 101 and the data transmission from the vehicle camera 105 to the second control module 102. For example, when the third control module 103 detects that the first control module 101 is in a sleep state and the second control module 102 is in an operating state, it can directly control the switching module 104 to bypass the visual data transmission to the second control module 102. As another example, when both control modules 101-102 are in an operating state, the third control module 103 can select a serial transmission, parallel transmission, or redundant transmission mode according to the system's security and performance requirements, thereby achieving intelligent management and optimized configuration of the visual data stream.

[0050] According to some embodiments, the third control module may determine a master control module for controlling data transmission from the vehicle camera to the first control module and data transmission from the vehicle camera to the second control module, such that the master control module is responsible for controlling the data transmission from the vehicle camera to the first control module and data transmission from the vehicle camera to the second control module. According to some embodiments, the third control module is configured to: determine a master control module; when the master control module is either the first or second control module, send a master control selection signal to the master control module in the first or second control module, such that the master control module controls the data transmission from the vehicle camera to the first control module and data transmission from the vehicle camera to the second control module; and when the master control module is the third control module, send a data transmission control signal to at least one of the first control module, the second control module, and the switching module to control the data transmission from the vehicle camera to the first control module and data transmission from the vehicle camera to the second control module.

[0051] According to some embodiments, the third control module is configured to: determine the running module of the first and second control modules as the master control module in response to one of the first and second control modules being running and the other not being running. According to some embodiments, the third control module is configured to: determine the first control module as the master control module in response to both the first and second control modules being running. According to some embodiments, the third control module is configured to: determine the third control module as the master control module in response to both the first and second control modules not running. For example, when the third control module 103 detects that the first control module 101 is in a sleep state while the second control module is running, it determines the second control module 102 as the master control module. As another example, when both the first control module 101 and the second control module 102 are running, the first control module 101 is determined as the master control module. As yet another example, when both the first control module 101 and the second control module 102 are in a sleep state or have not yet started, the third control module 103 determines itself as the master control module.

[0052] In the embodiments described herein, the control architecture where the third control module 103 controls the switching module 104 achieves reliable management of the data transmission path. Unlike a fixed system where either the first control module 101 or the second control module 102 controls the data flow, the third control module 103 in this invention directly controls the data transmission from the vehicle camera to the first control module and from the vehicle camera to the second control module. Alternatively, a master control module is determined to control both the data transmission from the vehicle camera to the first and second control modules, thus forming a technical architecture that separates control and processing functions. The third control module 103 can coordinate the transmission strategy of visual data based on factors such as the overall operating status of the vehicle, power consumption requirements, and / or safety requirements, avoiding potential control conflicts between the first control module 101 and the second control module 102.

[0053] According to some embodiments, the switching module 104 also has status monitoring and feedback functions, which can report the current data transmission status and any abnormalities to the third control module 103 in real time, providing important support for the reliability and fault diagnosis of the system.

[0054] According to some embodiments, the first control module 101 includes a first driver assistance control module, and the second control module 102 includes at least one of a cockpit control module and a second driver assistance control module. According to some embodiments, the first driver assistance control module included in the first control module 101 is used to process visual data related to driver assistance and perform functions such as perception algorithms, target detection, and path planning. According to some embodiments, when the second control module 102 includes a cockpit control module, the second control module 102 is mainly responsible for cockpit display, human-machine interface, and other driver assistance functions. According to some embodiments, when the second control module 102 includes a second driver assistance control module, the second driver assistance control module can perform all or part of the same functions as the first driver assistance control module to achieve redundancy in driver assistance control.

[0055] According to some embodiments, the first control module 101 and the second control module 102 are located on different printed circuit boards. For example, the first control module 101 is located on a first control circuit board that implements driver assistance functions, and the second control module 102 is located on a second control circuit board that implements cockpit control functions. The first and second control circuit boards can be integrated into the same vehicle domain controller. According to other embodiments, the first control module 101 and the second control module 102 are located on the same printed circuit board to improve the integration of the control circuitry.

[0056] According to some embodiments, the first control module 101 and the second control module 102 adopt a SOC (System on Chip) chip architecture, while the third control module 103 adopts an MCU (Microcontroller Unit) chip architecture. This differentiated chip configuration realizes the optimized division of system functions. For example, the SOC chip integrates a high-performance multi-core CPU, GPU, DSP and dedicated AI accelerator, and has powerful parallel computing capabilities and image processing performance. It is particularly suitable for performing complex vision algorithms, deep learning inference and real-time image rendering tasks. For example, the SOC chip in the first control module 101 is specifically responsible for perception algorithms related to assisted driving, including computationally intensive tasks such as target detection, lane line recognition, traffic sign recognition and path planning. Its built-in ISP (Image Signal Processor) can perform real-time preprocessing of raw camera data, including noise reduction, color correction, exposure adjustment and distortion correction. For another example, the SOC chip in the second control module 102 focuses on cockpit entertainment and human-computer interaction functions, using its powerful GPU rendering capabilities to provide high-quality 3D interface display, multimedia playback and navigation map rendering. In contrast, the MCU chip used in the third control module 103 features low power consumption, high reliability, and real-time response, making it ideal as a coordinating controller. In the embodiments described in this disclosure, the collaborative architecture of the SOC and MCU not only achieves a combination of high-performance computing and collaborative control, but also improves the reliability and maintainability of the system through functional separation.

[0057] It should be understood that, although not shown, a connection may exist between the first control module 101 and the second control module 102 to enable communication from the first control module 101 to the second control module 102 (e.g., as referenced below). Figure 3 Data transmission (as described) and / or from the second control module 102 to the first control module 101 (e.g., as referred to below). Figure 5 The data transmission described.

[0058] Figures 2-5 A schematic diagram of the data transmission path of a vehicle controller in different modes according to an embodiment of the present disclosure is shown, wherein the third control module directly controls the data transmission mode. It should be understood that, for simplicity... Figures 2 to 5 Only the main data transmission paths in the corresponding operating modes are shown, omitting... Figure 1 The diagram shows some connection relationships, such as non-data stream connections. It should be understood that... Figure 1 and Figures 2-5 Modules with the same reference numerals in the figures are the same or similar modules. Figure 1 The detailed descriptions of the structure and function of each module in the text also apply to... Figures 2-5The embodiments shown will not be described again in the following description.

[0059] According to some embodiments, the third control module is configured to: in response to the vehicle controller being in a first mode, send a data transmission control signal to the switching module so that the vehicle camera transmits visual data to the second control module, wherein the data transmission control signal is the first control signal.

[0060] Figure 2 A schematic diagram of a data transmission path 200 of a vehicle controller 100 in a first mode according to an embodiment of the present disclosure is shown.

[0061] According to some embodiments, such as Figure 2 As shown, in the first mode, the third control module 103 sends a first control signal to the switching module 104, causing the switching module 104 to enter bypass mode. In this mode, visual data from the vehicle camera 105 bypasses the first control module 101 and is directly transmitted to the second control module 102 via the switching module 104. This data transmission path is particularly suitable for modes where the first control module 101 may be in a sleep state, such as the vehicle's sentry mode or low-power monitoring state, and where the second control module 102 still needs to receive camera data to provide some functions, such as security monitoring or cockpit display functions.

[0062] According to some embodiments, during the implementation of the first mode, the third control module 103 determines whether bypass transmission is required based on the current operating state of the vehicle and power management requirements. For example, when it is detected that the first control module 101 is in a sleep state or the system needs to respond quickly, the third control module 103 immediately sends a first control signal. After receiving the signal, the switching module 104 quickly completes the reconfiguration of the data path, reducing the delay of visual data to the second control module 102 and further to other components of the vehicle (e.g., the vehicle display screen), thereby achieving the dual advantages of fast display startup and low power consumption operation. Furthermore, it enables the second control module 102 to bypass the first control module 101 and obtain the raw data of the vehicle camera 105 for use in applications such as visualization and perception.

[0063] According to some embodiments, in the first mode, the second control module 102 internally runs a dedicated bypass mode software module. This software module is designed with a lightweight, fast-start architecture, enabling it to bypass complex system initialization and algorithm processing flows after receiving visual data from the switching module 104, and directly transmit the visual data to other display and interaction modules of the vehicle with minimal latency. For example, when the vehicle is in sentry mode or low-power monitoring state, the bypass mode software in the second control module 102 can complete startup within milliseconds, avoiding the long startup process of traditional SOC systems that can take several seconds, thereby achieving end-to-end fast response from camera data reception to image display on the vehicle's screen. This bypass mode software architecture is particularly suitable for application scenarios requiring immediate visual feedback, such as emergency security monitoring, rapid reversing image display, and driver assistance reminders, ensuring that the vehicle can still provide basic but critical visual information services even when the first control module 101 is in a sleep or startup state.

[0064] According to some embodiments, when the vehicle controller is in the first mode, the first control module is in a sleep mode. According to other embodiments, when the vehicle processor is in the first mode, the first control module may also be in a non-sleep mode, but it does not need to acquire visual data from the vehicle camera.

[0065] According to some embodiments, the third control module is configured to: in response to the vehicle controller being in a second mode, send a data transmission control signal to the switching module and the first control module, such that: the vehicle camera transmits visual data to the first control module, and the first control module transmits visual data to the second control module, wherein the data transmission control signal is the second control signal.

[0066] Figure 3 A schematic diagram of a data transmission path 300 of a vehicle controller 100 in a second mode according to an embodiment of the present disclosure is shown.

[0067] According to some embodiments, such as Figure 3 As shown, in the second mode, the third control module 103 sends a second control signal to the switching module 104 and the first control module 101, causing the switching module 104 to be in a serial transmission mode. In this mode, visual data from the vehicle camera 105 is first transmitted to the first control module 101 for processing, and then the first control module 101 forwards the processed visual data to the second control module 102. This serial data transmission path is suitable for application scenarios where the first control module 101 needs to preprocess, enhance, or extract features from the visual data, such as driver assistance functions in normal driving mode.

[0068] According to some embodiments, during the implementation of the second mode, the third control module 103 determines whether to enable the serial transmission mode based on the vehicle's operating status and functional requirements. For example, when the vehicle is detected to have entered a normal driving state and the first control module 101 has been fully activated, the third control module 103 sends a second control signal. Upon receiving this signal, the switching module 104 establishes a data transmission link from the vehicle camera 105 to the first control module 101 and then to the second control module 102. In this mode, the first control module 101 fully utilizes its powerful computing capabilities to perform complex perception algorithm processing on the raw visual data, including functions such as target detection, lane line recognition, traffic sign recognition, and depth estimation. Then, the visual data, after algorithm processing and feature enhancement, is transmitted to the second control module 102, enabling the second control module 102 to provide further functions based on the high-quality processing results, such as more accurate cockpit display and human-machine interaction functions.

[0069] According to some embodiments, the serial transmission architecture of the second mode achieves at least the following technical effects: First, data preprocessing is optimized. The first control module 101 uses its dedicated image signal processor and AI accelerator to perform denoising, color correction, distortion correction, and feature extraction on the raw visual data, which significantly improves the data quality transmitted to the second control module 102. Second, computing resources are allocated collaboratively. By allocating computationally intensive perception algorithm tasks to the first control module 101, the processing burden of the second control module 102 is reduced, allowing it to focus on other functions, such as cockpit entertainment, navigation display, and human-computer interaction. Finally, the overall system performance is improved. The serial processing mode fully utilizes the computing power of the two control modules, realizing an end-to-end optimized processing flow from raw data acquisition to final data use (e.g., application display).

[0070] According to some embodiments, the third control module is configured to send a data transmission control signal to the switching module in response to the vehicle controller being in a third mode, such that the vehicle camera transmits visual data to the first control module and the second control module, wherein the data transmission control signal is the third control signal.

[0071] Figure 4 A schematic diagram of a data transmission path 400 of a vehicle controller 100 in a second mode according to an embodiment of the present disclosure is shown.

[0072] According to some embodiments, such as Figure 4As shown, in the third mode, the third control module 103 sends a third control signal to the switching module 104, causing the switching module 104 to enter parallel transmission mode. In this mode, visual data from the vehicle camera 105 is simultaneously transmitted to the first control module 101 and the second control module 102 through the internal data copying and distribution mechanism of the switching module 104. This parallel data transmission path is particularly suitable for application scenarios requiring redundant processing and collaborative computing, such as advanced driver assistance modes or critical safety functions that require improved system reliability.

[0073] According to some embodiments, during the implementation of the third mode, the third control module 103 determines whether to enable the parallel transmission mode based on the vehicle's safety requirements and system reliability requirements. For example, when the vehicle is detected to be entering an advanced driver assistance state or when redundant processing is required, the third control module 103 sends a third control signal. Upon receiving this signal, the switching module 104 establishes a parallel data transmission channel from the vehicle camera 105 to the first control module 101 and the second control module 102. In this mode, the high-performance data replication unit inside the switching module 104 ensures that the two control modules receive exactly the same visual data, achieving data synchronization and consistency. This supports the first control module 101 and the second control module 102 to perform independent perception algorithm processing on the same scene, improving the overall system's safety and reliability through result comparison and cross-validation.

[0074] According to some embodiments, the parallel transmission architecture of the third mode achieves at least the following technical effects: First, redundant processing is guaranteed. The two control modules receive the same visual data simultaneously and execute perception algorithms independently. When one module fails or malfunctions, the other module can continue to provide reliable processing results, ensuring the continuity and security of the system. Second, collaborative computing is optimized. The first control module 101 and the second control module 102 can focus on different algorithm tasks. For example, the first control module 101 performs target detection and tracking, while the second control module 102 performs path planning and decision-making, improving overall computational efficiency through parallel processing. Third, real-time performance is improved. Parallel transmission avoids the data transmission delay in the serial mode. The two control modules can start processing simultaneously, significantly shortening the end-to-end time from data acquisition to processing result output. Finally, system scalability is enhanced. The parallel architecture provides a flexible expansion basis for adding more control modules or processing units in the future, supporting more complex multi-module collaborative processing scenarios.

[0075] According to some embodiments, the third control module is configured to: in response to the vehicle controller being in a fourth mode, send a data transmission control signal to the switching module and the second control module, such that: the vehicle camera transmits visual data to the first control module and the second control module, and the second control module transmits visual data to the first control module, wherein the data transmission control signal is the fourth control signal.

[0076] Figure 5 A schematic diagram of a data transmission path 500 of a vehicle controller in a fourth mode according to an embodiment of the present disclosure is shown.

[0077] According to some embodiments, such as Figure 5 As shown, in the fourth mode, the third control module 103 sends a fourth control signal to the switching module 104 and the second control module 102, causing the switching module 104 to enter a redundant transmission mode. In this mode, visual data from the vehicle camera 105 is not only transmitted simultaneously to the first control module 101 and the second control module 102 through the internal data copying and distribution mechanism of the switching module 104, but also a reverse data channel is established from the second control module 102 to the first control module 101. This redundant data transmission path is particularly suitable for application scenarios requiring the highest level of security and fault recovery capabilities, such as backup processing of critical safety functions or emergency data transmission during system failures.

[0078] According to some embodiments, during the implementation of the fourth mode, the third control module 103 determines whether to enable the redundant transmission mode based on the vehicle's critical safety requirements and fault recovery requirements. For example, when the vehicle is detected to have entered a critical safety state or requires fault backup, the third control module 103 sends a fourth control signal. Upon receiving this signal, the switching module 104 establishes a bidirectional redundant data transmission network from the vehicle camera 105 to the first control module 101 and the second control module 102. In this mode, the switching module 104 not only ensures that the two control modules receive exactly the same visual data, but also enables the second control module 102 to transmit its processing results or status information to the first control module 101 through a reverse data channel, realizing bidirectional data interaction and mutual backup, thereby enabling rapid switching and recovery of system functions when either module malfunctions.

[0079] According to some embodiments, the redundant transmission architecture of the fourth mode achieves at least the following technical effects: First, bidirectional redundancy ensures not only parallel processing of visual data but also establishes a reverse communication mechanism between control modules. When the first control module 101 fails, the second control module 102 can take over its functions and feed back status information to the system. Second, rapid fault recovery allows the second control module 102 to transmit backup data or recovery information to the first control module 101 in real time via the reverse data channel, significantly shortening the system fault recovery time. Third, load balancing is optimized, allowing the two control modules to dynamically allocate computing tasks based on their respective processing capabilities and load conditions. The second control module 102 can transmit some processing results to the first control module 101 for further processing. Fourth, system reliability is maximized, with bidirectional data flow ensuring that the system can maintain basic functions and security even under complex fault scenarios. Finally, scalability and maintainability are enhanced, with the redundant transmission mode providing a flexible data interaction foundation for future system upgrades and maintenance, supporting more complex multi-module collaboration and fault diagnosis scenarios.

[0080] Figures 6-9 A schematic diagram of the data transmission path of a vehicle controller in different modes according to an embodiment of the present disclosure is shown, wherein the third control module directly controls the data transmission mode. It should be understood that, for simplicity... Figures 6 to 9 Only the main data transmission paths in the corresponding operating modes are shown, omitting... Figure 1 The diagram shows some connection relationships, such as non-data stream connections. It should be understood that... Figure 1 and Figures 6-9 Modules with the same reference numerals in the figures are the same or similar modules. Figure 1 The detailed descriptions of the structure and function of each module in the text also apply to... Figures 6-9 The embodiments shown will not be described again in the following description.

[0081] According to some embodiments, the main control module is configured as a second control module, and the second control module is configured to send a data transmission control signal to the switching module in response to the vehicle controller being in a first mode and the second control module receiving a main control selection signal, so that the vehicle camera transmits visual data to the second control module, wherein the data transmission control signal is a first control signal.

[0082] Figure 6 A schematic diagram of a data transmission path 600 of a vehicle controller in a first mode according to an embodiment of the present disclosure is shown.

[0083] According to some embodiments, the third control module 103 determines that the second control module 102 is the master control module. For example, only the second control module 102 is running among the first control module 101 and the second control module 102 (for example, in the vehicle sentry mode as described above, the first control module 101 may be in a dormant state, while the second control module 102 still needs to receive camera data to provide some functions), and sends a master control selection signal to the second control module 102.

[0084] According to some embodiments, in response to the vehicle controller 100 being in a first mode and the second control module 102 receiving a master control selection signal, the second control module 102 sends a first control signal to the switching module 104, causing the switching module 104 to be in bypass mode, and the visual data from the vehicle camera 105 to bypass the first control module 101 and be directly transmitted to the second control module 102 through the switching module 104. It should be understood that... Figure 6 Bypass mode and reference in Figure 2 The bypass patterns described are the same or similar.

[0085] According to some embodiments, and reference Figure 2 Similar to or similar to the description, the second control module 102 internally runs a dedicated bypass mode software module, which is designed with a lightweight and fast-start architecture. After receiving visual data from the switching module 104, it can bypass the complex system initialization and algorithm processing flow to reduce data transmission latency.

[0086] According to some embodiments, the main control module is a first control module, and the first control module is configured to: in response to the vehicle controller being in a second mode and the first control module receiving a main control selection signal, send a data transmission control signal to the switching module, so that: the vehicle camera transmits visual data to the first control module and transmits visual data to the second control module, wherein the data transmission control signal is a second control signal.

[0087] Figure 7 A schematic diagram of a data transmission path 700 of a vehicle controller in a second mode according to an embodiment of the present disclosure is shown.

[0088] According to some embodiments, the third control module 103 determines that the first control module 101 is the master control module. For example, both the first control module 101 and the second control module 102 are running, and sends a master control selection signal to the first control module 101.

[0089] According to some embodiments, in response to the vehicle controller 100 being in the second mode and the first control module receiving the master control selection signal, the first control module 101 sends a data transmission control signal to the switching module 104, so that the vehicle camera 105 transmits visual data to the first control module 101 and transmits visual data to the second control module 102, wherein the data transmission control signal is the second control signal.

[0090] According to some embodiments, and reference Figure 3 As described in the same or similar manner, the switching module 104 is in a serial transmission mode, in which visual data from the vehicle camera 105 is first transmitted to the first control module 101 for processing, and then the first control module 101 forwards the processed visual data to the second control module 102.

[0091] According to some embodiments, the main control module is a first control module, and the first control module is configured to: in response to the vehicle controller being in a third mode and the first control module receiving a main control selection signal, send a data transmission control signal to the switching module, so that: the vehicle camera transmits visual data to the first control module and the second control module, wherein the data transmission control signal is a third control signal.

[0092] Figure 8 A schematic diagram of a data transmission path 800 of a vehicle controller in a third mode according to an embodiment of the present disclosure is shown.

[0093] According to some embodiments, the third control module 103 determines that the first control module 101 is the master control module. For example, both the first control module 101 and the second control module 102 are running, and sends a master control selection signal to the first control module 101.

[0094] According to some embodiments, the first control module 101 is configured to send a data transmission control signal to the switching module 104 in response to the vehicle controller 100 being in a third mode, such that the vehicle camera 105 transmits visual data to the first control module 101 and the second control module 102, wherein the data transmission control signal is a third control signal.

[0095] According to some embodiments, such as Figure 8 The switching module 104 shown is in the position of the reference. Figure 4 The described switching module 104 employs a parallel transmission mode similar to that described above, so that visual data from the vehicle camera 105 is simultaneously transmitted to the first control module 101 and the second control module 102 via the internal data copying and distribution mechanism of the switching module 104.

[0096] According to some embodiments, the main control module is a first control module, and the first control module is configured to: in response to the vehicle controller being in a fourth mode and the first control module receiving a main control selection signal, send a data transmission control signal to a switching module and a second control module, such that: the vehicle camera transmits visual data to the first control module and the second control module, and the second control module transmits visual data to the first control module, wherein the data transmission control signal is a fourth control signal.

[0097] Figure 9 A schematic diagram of a data transmission path 900 of a vehicle controller in a fourth mode according to an embodiment of the present disclosure is shown.

[0098] According to some embodiments, the third control module 103 determines that the first control module 101 is the master control module. For example, both the first control module 101 and the second control module 102 are running, and sends a master control selection signal to the first control module 101.

[0099] According to some embodiments, the first control module 101 is configured to: in response to the vehicle controller 100 being in a fourth mode and the first control module 101 receiving a master control selection signal, send a data transmission control signal to the switching module 104 and the second control module 102, such that: the vehicle camera 100 transmits visual data to the first control module 101 and the second control module 102, and the second control module 102 transmits visual data to the first control module 101.

[0100] According to some embodiments, such as Figure 9 The switching module 104 shown is in the position of the reference. Figure 5 The redundant transmission mode similar to the described switching module 104 means that visual data from the vehicle camera 105 is not only transmitted to the first control module 101 and the second control module 102 simultaneously through the internal data copying and distribution mechanism of the switching module 104, but also a reverse data channel is established from the second control module 102 to the first control module 101.

[0101] It should be understood that Figures 2-9 The data transmission paths shown in the diagram may actually include more or fewer data transmission paths, for example, in the reference... Figure 3 In the second mode described, the third control module 103 can also send a signal to the second control module 102 to instruct it to receive data from the first control module 101.

[0102] According to some embodiments, the vehicle controller further includes a power supply module connected to the first control module and the switching module, wherein the power supply module is configured to supply power to the first control module and / or the switching module in response to receiving a power supply signal from the third control module.

[0103] Figure 10 A schematic diagram of the structure of a vehicle controller 100 according to an embodiment of the present disclosure is shown. It should be understood that... Figure 10 and Figures 1-9 Modules with the same reference numerals in the figures are the same or similar modules. Figure 10 The detailed descriptions of the structure and function of each module in the text also apply to... Figures 1-9 The embodiments shown will not be repeated in the following description.

[0104] According to some embodiments, with Figure 1 Compared to the vehicle controller 100 shown, Figure 10 The illustrated vehicle controller 100 also includes a power module 106 connected to the first control module 101 and the switching module 104. According to some embodiments, the power module 106 is configured to supply power to the first control module 101 and / or the switching module 104 in response to receiving a power supply signal from the third control module 103. This power management architecture enables intelligent power supply control based on the vehicle's operating state. For example, when the vehicle is in a low-power mode or sentry mode, the third control module 103 can selectively supply power to the switching module 104 while keeping the first control module 101 in a sleep state, thereby achieving precise power management and rapid system response. According to some embodiments, the power module 106 integrates multiple power switches and voltage regulation circuits, enabling it to provide a stable power output based on the power supply signal from the third control module 103, and possesses safety functions such as overcurrent protection, overvoltage protection, and short-circuit protection to ensure reliable operation of the vehicle controller 100 in various operating modes.

[0105] According to embodiments of the present disclosure, a vehicle domain controller is provided, including: a vehicle controller as disclosed herein; and a second control module.

[0106] Figure 11 A schematic diagram of the structure of a vehicle domain controller 1100 according to an embodiment of the present disclosure is shown.

[0107] According to some embodiments, the vehicle domain controller 1100 can be a vehicle's driver assistance controller, wherein the first control module 101 and the second control module 102 are both driver assistance control modules, realizing redundant processing and collaborative computing of driver assistance functions. According to other embodiments, the vehicle domain controller 1100 can be a vehicle's cockpit-driver fusion controller, wherein the first control module 101 is a driver assistance control module, and the second control module 102 is a cockpit control module, realizing integrated control of driver assistance and cockpit functions.

[0108] According to some embodiments, Figure 11The vehicle controller 100 shown is related to the reference. Figures 1-10 The vehicle controller 100 described is the same as or similar to that described above, where it should be understood that... Figure 11 The reference is not drawn in the middle. Figure 10 The power module 106 is described, however, in some embodiments, it may be as described in the reference. Figure 10 As described, a power module 106 is additionally provided in the vehicle controller 100.

[0109] According to embodiments of the present disclosure, a vehicle is provided, including a vehicle controller as disclosed herein or a vehicle domain controller as disclosed herein.

[0110] Figure 12 A vehicle 1200 according to an embodiment of the present disclosure is shown.

[0111] The vehicles disclosed herein (e.g., Figure 12 The vehicle 1200 may include a controller 1201, wherein the controller 1201 is the vehicle controller or vehicle domain controller as described above. It should be understood that... Figure 12 The arrangement of vehicle 1200 in this disclosure is merely illustrative, and the distribution of controller 1201 on the vehicle can be designed according to functional requirements. The vehicle disclosed herein can be an electrified vehicle, such as a battery electric vehicle (BEV), a hybrid electric vehicle (HEV), a plug-in hybrid electric vehicle (PHEV), or a range-extended electric vehicle (REEV). The vehicle disclosed herein can also be a hydrogen fuel cell vehicle. The vehicle disclosed herein can also be a motor vehicle. It should be understood that the vehicle disclosed herein also possesses the advantages described above regarding vehicle controllers or vehicle domain controllers.

[0112] Unless otherwise defined, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. It should also be understood that terms such as those defined in a common dictionary shall be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and not as having an idealized or highly formalized meaning, unless expressly defined herein.

[0113] The foregoing description is illustrative of the present disclosure and should not be construed as limiting it. Although several exemplary embodiments of the present disclosure have been described, those skilled in the art will readily understand that many modifications can be made to the exemplary embodiments without departing from the novel teachings and advantages of the present disclosure. Therefore, all such modifications are intended to be included within the scope of the present disclosure as defined by the claims. It should be understood that the foregoing description is illustrative of the present disclosure and should not be construed as limiting it to the specific embodiments disclosed, and modifications to the disclosed embodiments and other embodiments are intended to be included within the scope of the appended claims. The present disclosure is defined by the claims and their equivalents.

Claims

1. A vehicle controller, comprising: First control module; A switching module, wherein the switching module is connected to a vehicle camera, a first control module, and a second control module; and A third control module is connected to the first control module, the second control module, and the switching module to control data transmission from the vehicle camera to the first control module and data transmission from the vehicle camera to the second control module.

2. The vehicle controller as claimed in claim 1, wherein, The first control module includes a first driver assistance control module, and the second control module includes at least one of a cockpit control module and a second driver assistance control module.

3. The vehicle controller as claimed in claim 1, wherein, The first control module and the second control module include a SOC chip, and the third control module includes an MCU chip.

4. The vehicle controller as described in any one of claims 1-3, wherein, The third control module is configured to send a data transmission control signal to at least one of the first control module, the second control module, and the switching module to control data transmission from the vehicle camera to the first control module and data transmission from the vehicle camera to the second control module.

5. The vehicle controller as claimed in claim 4, wherein, The third control module is configured to: in response to the vehicle controller being in a first mode, send a data transmission control signal to the switching module so that the vehicle camera transmits visual data to the second control module, wherein the data transmission control signal is a first control signal.

6. The vehicle controller as claimed in claim 4, wherein, The third control module is configured to: in response to the vehicle controller being in the second mode, send a data transmission control signal to the switching module and the first control module, such that: the vehicle camera transmits visual data to the first control module, and the first control module transmits the visual data to the second control module, wherein the data transmission control signal is the second control signal.

7. The vehicle controller as claimed in claim 4, wherein, The third control module is configured to send a data transmission control signal to the switching module in response to the vehicle controller being in a third mode, such that the vehicle camera transmits visual data to the first control module and the second control module, wherein the data transmission control signal is a third control signal.

8. The vehicle controller as claimed in claim 4, wherein, The third control module is configured to: in response to the vehicle controller being in a fourth mode, send a data transmission control signal to the switching module and the second control module, such that: the vehicle camera transmits visual data to the first control module and the second control module, and the second control module transmits the visual data to the first control module, wherein the data transmission control signal is a fourth control signal.

9. The vehicle controller as claimed in any one of claims 1-3, wherein, The third control module is configured as follows: Identify the main control module; When the main control module is either the first control module or the second control module, a main control selection signal is sent to the main control module in the first and second control modules, so that the main control module controls the data transmission from the vehicle camera to the first control module and the data transmission from the vehicle camera to the second control module; and When the main control module is the third control module, it sends a data transmission control signal to at least one of the first control module, the second control module, and the switching module to control the data transmission from the vehicle camera to the first control module and the data transmission from the vehicle camera to the second control module.

10. The vehicle controller as claimed in claim 9, wherein, The third control module is configured as follows: In response to the fact that one of the first control module and the second control module is running and the other of the first control module and the second control module is not running, the module that is running among the first control module and the second control module is determined to be the main control module; In response to the fact that both the first control module and the second control module are running, the first control module is determined to be the main control module; and Since neither the first control module nor the second control module is running, the third control module is determined to be the main control module.

11. The vehicle controller as claimed in claim 9, wherein, The main control module is the second control module, and the second control module is configured to: in response to the vehicle controller being in a first mode and the second control module receiving the main control selection signal, send a data transmission control signal to the switching module so that the vehicle camera transmits visual data to the second control module, wherein the data transmission control signal is a first control signal.

12. The vehicle controller as claimed in claim 9, wherein, The main control module is the first control module, and the first control module is configured to: in response to the vehicle controller being in the second mode and the first control module receiving the main control selection signal, send a data transmission control signal to the switching module, such that: the vehicle camera transmits visual data to the first control module, and transmits the visual data to the second control module, wherein the data transmission control signal is the second control signal.

13. The vehicle controller as claimed in claim 9, wherein, The main control module is the first control module, and the first control module is configured to: in response to the vehicle controller being in the third mode and the first control module receiving the main control selection signal, send a data transmission control signal to the switching module, so that: the vehicle camera transmits visual data to the first control module and the second control module, wherein the data transmission control signal is a third control signal.

14. The vehicle controller as claimed in claim 9, wherein, The main control module is the first control module, and the first control module is configured to: in response to the vehicle controller being in the fourth mode and the first control module receiving the main control selection signal, send a data transmission control signal to the switching module and the second control module, such that: the vehicle camera transmits visual data to the first control module and the second control module, and the second control module transmits the visual data to the first control module, wherein the data transmission control signal is the fourth control signal.

15. The vehicle controller as claimed in any one of claims 1-3, further comprising: The power module is connected to the first control module and the switching module. The power module is configured to supply power to the first control module and / or the switching module in response to receiving a power supply signal from the third control module.

16. A vehicle domain controller, comprising: The vehicle controller according to any one of claims 1-15; as well as The second control module.

17. A vehicle comprising a vehicle controller according to any one of claims 1-15 or a vehicle domain controller according to claim 16.

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