Symmetric function execution method and device and vehicle

Abstract

The invention provides a symmetric function execution method and device and a vehicle, and relates to the technical field of vehicle control. The method comprises the following steps: when a trigger request of a symmetric function is received, detecting network channel states corresponding to a left domain controller and a right domain controller which execute the symmetric function; when at least one of the network channel states of the left domain controller and the right domain controller is not in an awakening state, if a preset awakening condition is met, sending an awakening request to the network channel which is not in the awakening state; when the network channel state of the left domain controller and the network channel state of the right domain controller are both in the awakening state, a left domain control instruction and a right domain control instruction are generated according to the triggering request of the symmetric function; and respectively sending the left domain control instruction and the right domain control instruction to a left domain controller and a right domain controller so as to synchronously execute a symmetric function. Therefore, synchronous execution of symmetrical functions is realized, and the vehicle use experience is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a method, apparatus and vehicle for symmetrical function execution. Background Technology

[0002] In the automotive field, in the mainstream automotive electronic and electrical architecture with left and right domain controllers, the body functions are divided into left and right regions, which are controlled by the left region controller and the right region controller, respectively.

[0003] The aforementioned architecture offers advantages in wiring optimization and cost control, but it also introduces a new challenge: ensuring consistent execution of symmetrical functions that require precise synchronization between the left and right sides is difficult. Typical symmetrical functions include synchronized flashing of hazard warning lights (double flashers), synchronized folding / unfolding of left and right rearview mirrors, and synchronized operation of power side steps. Asynchronous execution of these symmetrical functions not only affects the user experience but may also pose safety hazards in certain scenarios. Summary of the Invention

[0004] This application provides a method, apparatus, and vehicle for executing symmetrical functions to achieve synchronous execution of symmetrical functions and improve the user experience.

[0005] In a first aspect, embodiments of this application provide a method for executing symmetric functions, including: Upon receiving a trigger request for a symmetric function, the network channel status corresponding to the left domain controller and the right domain controller executing the symmetric function is detected; If at least one of the network channel states of the left domain controller and the right domain controller is not in a wake-up state, and if the preset wake-up condition is met, a wake-up request is sent to the network channel that is not in a wake-up state. When the network channel states of both the left domain controller and the right domain controller are in the wake-up state, the left domain control command and the right domain control command are generated respectively according to the trigger request of the symmetric function. The left domain control command and the right domain control command are sent to the left domain controller and the right domain controller, respectively, to execute the symmetric function synchronously.

[0006] Based on the above technical content, this application embodiment monitors the network channel status corresponding to the left domain controller and the right domain controller that perform symmetrical functions, and sends a wake-up request to the network channel that is not in a wake-up state to make the network channel status of both the left and right domain controllers wake up, thereby ensuring that the left domain control command and the right domain control command can be successfully sent to the corresponding controllers to achieve synchronous execution of symmetrical functions and improve the user experience.

[0007] In one possible implementation, when at least one of the network channel states of the left domain controller and the right domain controller is not in a wake-up state, the method further includes: Record the trigger request for the symmetrical function; The system detects if a trigger request for the symmetrical function is received again within a preset time period. Based on the case where the symmetric function trigger request is received again within the preset time period, it is determined whether the preset wake-up condition is met.

[0008] The above method records the trigger request and detects whether it is triggered again within a preset time to determine whether the user has a strong desire for immediate operation, thereby deciding whether to wake up the unready network, which enhances fault tolerance and human-computer interaction friendliness.

[0009] In one possible implementation, determining whether the preset wake-up condition is met based on the case where the trigger request for the symmetric function is received again within the preset time period includes: Detect whether the number of times the trigger request for the symmetric function is received again within the preset time period reaches a preset number threshold; If the number of times the trigger request for the symmetric function is received again within the preset time period reaches the preset number threshold, it is determined that the preset wake-up condition is met; otherwise, it is determined that the preset wake-up condition is not met, the record of the trigger request for the symmetric function is cleared, and the processing of the trigger request for the symmetric function is suspended.

[0010] The aforementioned trigger count threshold is used as a preset wake-up condition to avoid unnecessary network wake-ups due to misoperation or occasional requests, thereby reducing resource waste and improving the intelligence and stability of the strategy.

[0011] In one possible implementation, sending the left domain control command and the right domain control command to the left domain controller and the right domain controller, respectively, to synchronously execute the symmetric function includes: A transmission timestamp is embedded in both the left domain control command and the right domain control command; wherein the transmission timestamp is determined based on the signal propagation duration of the network channel corresponding to the left domain controller and the signal propagation duration of the network channel corresponding to the right domain controller. According to the corresponding sending timestamp, the left domain control instruction is sent to the left domain controller and the right domain control instruction is sent to the right domain controller, so that the time when the left domain controller receives the left domain control instruction is the same as the time when the right domain controller receives the right domain control instruction, so as to synchronously execute the symmetric function.

[0012] The above method embeds a transmission timestamp and adjusts the transmission time of the two control commands according to the network propagation delay to ensure that the two control commands arrive at the left and right domain controllers at the same time, thereby achieving high-precision time synchronization control. This enables the left and right domain controllers to respond to commands synchronously, realize the synchronous execution of symmetrical functions, and improve the user experience.

[0013] In one possible implementation, before sending the left domain control instruction to the left domain controller according to the corresponding sending timestamp, and before sending the right domain control instruction to the right domain controller, the method further includes: Configure preset high-priority message identifiers for the left domain control command and the right domain control command; The step of sending the left domain control command to the left domain controller and the right domain control command to the right domain controller according to the corresponding sending timestamp includes: According to the corresponding sending timestamp, the left domain control instruction carrying the high-priority message identifier is sent to the left domain controller, and the right domain control instruction carrying the high-priority message identifier is sent to the right domain controller.

[0014] By employing high-priority message identifiers, the two control commands can still be transmitted in a timely manner under network congestion or high load conditions, thereby improving the real-time performance and reliability of transmission.

[0015] In one possible implementation, before sending the left domain control instruction to the left domain controller according to the corresponding sending timestamp, and before sending the right domain control instruction to the right domain controller, the method further includes: The same execution timestamp is embedded in both the left domain control instruction and the right domain control instruction; The step of sending the left domain control command to the left domain controller and the right domain control command to the right domain controller according to the corresponding sending timestamp includes: According to the corresponding sending timestamp, the left domain control instruction and the right domain control instruction carrying the execution timestamp are sent to the left domain controller and the right domain controller respectively, so as to control the left domain controller and the right domain controller to synchronously execute the symmetric function at the time corresponding to the execution timestamp.

[0016] The above method, by embedding a unified execution timestamp, controls the left and right domain controllers to execute symmetrical functions synchronously, achieving precise synchronization control at the actuator level, which is suitable for scenarios with higher requirements for synchronization accuracy.

[0017] In one possible implementation, detecting the network channel status corresponding to the left domain controller and the right domain controller performing the symmetric function includes: Obtain the value of the first status flag signal of the network channel corresponding to the left domain controller that performs the symmetric function, and the value of the second status flag signal of the network channel corresponding to the right domain controller that performs the symmetric function; Based on the values ​​of the first status flag signal and the second status flag signal, as well as the pre-stored correspondence between the values ​​of the status flag signals and the network channel status, the network channel status corresponding to the left domain controller and the right domain controller that perform the symmetrical function is determined respectively.

[0018] The above provides a method for sensing the network channel status by reading status flag signals, which provides an accurate basis for the synchronous execution of symmetrical functions, and enhances perceptibility and controllability.

[0019] In one possible implementation, the method further includes: If a trigger request for a target function is received, it is determined whether the target function is a symmetrical function based on a pre-stored management list; wherein, the management list includes pre-marked symmetrical functions; If the target function is a symmetrical function, then it is determined that a trigger request for the symmetrical function has been received.

[0020] The above-mentioned method of identifying symmetric functions through a management list enhances the scalability and configurability of the symmetric function execution method of this application.

[0021] In one possible implementation, after detecting the network channel status corresponding to the left domain controller and right domain controller performing the symmetric function, the method further includes: When the network channel states of both the left domain controller and the right domain controller are in the wake-up state, the left domain control command and the right domain control command are generated respectively according to the trigger request of the symmetric function. The left domain control command and the right domain control command are sent to the left domain controller and the right domain controller, respectively, to execute the symmetric function synchronously.

[0022] Here, when a trigger request for the symmetric function is received and both network channels are detected to be in a wake-up state, without the need for active wake-up, the subsequent synchronization control method can be executed directly.

[0023] Secondly, embodiments of this application provide a symmetrical function execution device, comprising: The detection module is used to detect the network channel status corresponding to the left domain controller and the right domain controller that execute the symmetric function when a trigger request for the symmetric function is received; The processing module is configured to send a wake-up request to the network channel that is not in a wake-up state when at least one of the network channel states of the left domain controller and the right domain controller is not in a wake-up state, if a preset wake-up condition is met. The processing module is further configured to generate left domain control instructions and right domain control instructions respectively according to the trigger request of the symmetric function when the network channel states of the left domain controller and the right domain controller are both in the wake-up state. The processing module is further configured to send the left domain control command and the right domain control command to the left domain controller and the right domain controller respectively, so as to execute the symmetric function synchronously.

[0024] Thirdly, embodiments of this application provide a vehicle including a memory and a processor. The memory stores a computer program that can run on the processor. When the processor executes the computer program, it implements the symmetric function execution method as described in any of the first aspects.

[0025] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the symmetric function execution method as described in any of the first aspects.

[0026] It is understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here.

[0027] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this specification. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of an application scenario provided by an embodiment of this application; Figure 2 This is a flowchart illustrating a symmetric function execution method provided in an embodiment of this application; Figure 3 This is a flowchart illustrating a symmetric function execution method provided in another embodiment of this application; Figure 4 This is a schematic diagram of the structure of a symmetrical function execution device provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of a vehicle provided in one embodiment of this application; Detailed Implementation The present application will be described more clearly below with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the function of the present application, but do not limit the present application in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application. These all fall within the protection scope of the present application.

[0030] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0031] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0032] In the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0033] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized. Furthermore, "a plurality" mentioned in the embodiments of this application should be interpreted as two or more.

[0034] In automotive electronic and electrical architectures that primarily utilize left and right domain controllers, vehicle functions are divided according to their physical location on the left and right sides of the vehicle, controlled separately by the left and right domain controllers. For example, the left and right side mirrors are controlled and adjusted by the left and right domain controllers, respectively. This architecture offers advantages in wiring optimization and cost control, but it also introduces a new challenge: ensuring consistent execution of symmetrical functions requiring precise synchronization between the left and right sides is difficult. Typical symmetrical functions include synchronized flashing of hazard warning lights (double flashers), synchronized folding / unfolding of left and right side mirrors, and synchronized operation of electric side steps. Asynchronous execution of these symmetrical functions not only affects the user experience but may also pose safety hazards in certain scenarios.

[0035] The applicant discovered that the asynchronous execution of these symmetrical functions may be due to the simultaneous configuration of a partial network wake-up mechanism to reduce static power consumption. This partial network wake-up mechanism is an energy-saving technology where a function request may only wake up a portion of its associated network segments and related controllers, rather than the entire vehicle network. For example, when the driver triggers the hazard warning lights, only the left network segment may be awakened, while the right network segment remains dormant. This causes the left domain controller to respond immediately to the command, while the right domain controller, due to not receiving the command or receiving it delayed, cannot act synchronously, resulting in asynchronous execution between the left and right domains. The alternating flashing of the hazard lights creates confusion, affecting the user experience and potentially posing safety hazards in certain scenarios.

[0036] To improve the user experience and vehicle reliability, it is necessary to consider a new method to achieve the synchronous execution of symmetrical functions. The symmetrical function execution method provided in this application first detects the network channel status corresponding to the left and right domain controllers executing the symmetrical function. For network channels that are not in a wake-up state, a wake-up request is actively sent to ensure that the network channel status corresponding to the left and right domain controllers executing the symmetrical function is woken up. This ensures that the left domain control command and the right domain control command generated according to the symmetrical function trigger request can be successfully sent to the corresponding controllers. The left domain controller responds to the left domain control command, and the right domain controller responds to the right domain control command, thus achieving the synchronous execution of the symmetrical function.

[0037] First refer to Figure 1 , Figure 1 The schematic diagram illustrates an application scenario provided according to an embodiment of this application. The device involved in the application scenario includes a symmetrical function execution device 101, a left domain controller 102, and a right domain controller 103 integrated on a vehicle.

[0038] Here, the symmetric function execution device 101, according to the symmetric function execution method provided in this application embodiment, upon receiving a trigger request for a symmetric function, detects the network channel status corresponding to the left domain controller 102 and the right domain controller 103 executing the symmetric function to confirm whether both are in a wake-up state. If there is a network channel that is not in a wake-up state, then when the preset wake-up conditions are met, a wake-up request is actively sent to it.

[0039] Once the network channels of both the left domain controller 102 and the right domain controller 103 are activated, a left domain control command and a right domain control command are generated based on the symmetric function trigger request, and sent to the left domain controller 102 and the right domain controller 103, which are connected to the symmetric function execution device 101, respectively. The left domain controller 102 responds to the left domain control command, and the right domain controller 103 responds to the right domain control command, synchronously executing the symmetric function.

[0040] The following is combined Figure 1 Application scenarios, refer to Figures 2-3 This application describes a symmetric function execution method provided according to exemplary embodiments of the present application. It should be noted that the above application scenarios are shown only to facilitate understanding of the spirit and principles of the present application, and the embodiments of the present application are not limited in any way. Rather, the embodiments of the present application can be applied to any applicable scenario.

[0041] refer to Figure 2 , Figure 2 This is a schematic flowchart illustrating a symmetric function execution method provided in an embodiment of this application. The method can be implemented using a computer program, such as application software. The executing entity of this method can be a symmetric function execution device integrated with or installed with relevant computer programs. The executing entity can also be a medium storing relevant computer programs, such as a cloud drive or portable hard drive; alternatively, the executing entity can be implemented using a physical device integrated with or installed with relevant computer programs, such as a computer or server.

[0042] The following explanation uses a symmetrical function actuator as an example. Figure 2 As shown, the method in the embodiments of this application may include: S201, upon receiving a trigger request for a symmetric function, detects the network channel status corresponding to the left and right domain controllers executing the symmetric function.

[0043] Here, symmetrical functions refer to vehicle functions that require simultaneous execution on both the left and right sides to maintain consistency in vehicle behavior. Examples include simultaneous unlocking of the left and right doors, and simultaneous unfolding or folding of the left and right rearview mirrors. The trigger request for a symmetrical function is an instruction used to request simultaneous control of the left and right doors or the left and right rearview mirrors. This application embodiment does not limit the method of receiving the trigger request; it can be received based on a preset button, or it can be a trigger request actively generated when a user approaches the vehicle to simultaneously open the left and right doors, or a trigger request actively generated when the driver leaves the driver's seat to simultaneously fold the left and right rearview mirrors.

[0044] In this embodiment, upon receiving a trigger request for a symmetrical function, the network channel status corresponding to the left and right domain controllers executing the symmetrical function is detected to determine the communication status between the symmetrical function execution device and the left and right domain controllers. Here, the symmetrical function execution device can communicate with the left and right domain controllers via a Controller Area Network (CAN) bus. When the CAN bus network channel is in a wake-up state, normal data message transmission and reception are possible; when the CAN bus network channel is in a non-wake-up state, data message transmission and reception are not possible.

[0045] S202, if at least one of the network channel states of the left domain controller and the right domain controller is not in a wake-up state, and if the preset wake-up condition is met, a wake-up request is sent to the network channel that is not in a wake-up state.

[0046] Here, due to partial wake-up mechanisms or system errors, one of the network channels of the left domain controller and the right domain controller may be in a non-wake-up state, or neither may be in a wake-up state. When at least one of them is in a wake-up state, a wake-up request is sent to actively attempt to wake up the non-wake-up network channel when the preset wake-up conditions are met, thereby improving system fault tolerance.

[0047] The preset wake-up condition can be a preset number of consecutive trigger requests, indicating a strong user intention to operate. The preset wake-up condition can also be different types of multiple trigger requests, such as first triggering via a preset button, and if the vehicle does not respond, triggering again via remote operation provided by the mobile terminal, or triggering again via operation buttons provided by the vehicle key. This also indicates a strong user intention to operate and can reduce the probability of accidental triggering.

[0048] S203, when the network channel states of both the left domain controller and the right domain controller are in the wake-up state, generate left domain control instructions and right domain control instructions respectively according to the trigger request of the symmetric function; S204 sends the left domain control command and the right domain control command to the left domain controller and the right domain controller respectively, so as to execute the symmetrical function synchronously.

[0049] Here, when it is determined that the network channels between the symmetric function execution device and the left domain controller and the right domain controller are both in an awake state and can transmit instructions, the left domain control instruction and the right domain control instruction are generated according to the trigger request of the symmetric function. Based on the aforementioned awakened network channels, the left domain control instruction is sent to the left domain controller and the right domain control instruction is sent to the right domain controller, so that the left and right domain controllers respond to the control instructions and execute the symmetric function synchronously.

[0050] In this embodiment, upon receiving a trigger request for a symmetrical function, the network channel status corresponding to the left and right domain controllers executing the symmetrical function is monitored. By sending a wake-up request to the network channel that is not in a wake-up state, the network channel status of both the left and right domain controllers is made to be in a wake-up state. This ensures that the left domain control command and the right domain control command can be successfully sent to the corresponding controllers, ensuring the synchronicity and consistency of function execution. This eliminates unpleasant experiences such as asynchronous flashing of hazard warning lights and significant time differences in rearview mirror unfolding / folding, thus improving the reliability of the vehicle system.

[0051] The following examples illustrate the methods for determining symmetrical functions, detecting network channel status, setting preset wake-up conditions, and implementing action synchronization based on control commands.

[0052] Figure 3 A flowchart illustrating a symmetric function execution method provided in another embodiment of this application is shown below. Figure 3 As shown, the method includes: S301, upon receiving a trigger request for a symmetric function, detects the network channel status corresponding to the left and right domain controllers executing the symmetric function.

[0053] Understandably, vehicle body functions include both symmetrical and asymmetrical functions. Symmetrical functions include, as mentioned above, simultaneous unlocking of the left and right doors, simultaneous unfolding or folding of the left and right rearview mirrors, simultaneous flashing of hazard warning lights (double flashers), and simultaneous operation of the power side steps. Asymmetrical functions include single-side turn signals, single-side door opening, and single-side rearview mirror angle adjustment.

[0054] In one possible implementation, for ease of management, the symmetric function execution method provided in this embodiment further includes: (1.1) If a trigger request for the target function is received, determine whether the target function is a symmetrical function based on the pre-stored management list; wherein, the management list includes pre-marked symmetrical functions; (1.2) If the target function is a symmetric function, then it is determined that a trigger request for the symmetric function has been received.

[0055] Optionally, in the software architecture, functions that require left and right synchronization, such as "hazard warning lights on / off" and "rearview mirror folding / unfolding", are marked as "symmetrical functions" and registered in a specific management list so that the system can identify their synchronization requirements, thereby enhancing the scalability and configurability of the symmetrical function execution method provided in this application embodiment.

[0056] In one possible implementation, detecting the network channel status corresponding to the left and right domain controllers performing the symmetric function includes: (2.1) Obtain the value of the first status flag signal of the network channel corresponding to the left domain controller performing the symmetric function, and the value of the second status flag signal of the network channel corresponding to the right domain controller performing the symmetric function; (2.2) Based on the values ​​of the first state flag signal and the second state flag signal, as well as the correspondence between the values ​​of the pre-stored state flag signals and the network channel status, determine the network channel status corresponding to the left domain controller and the right domain controller that perform the symmetrical function.

[0057] For example, the first status flag signal CAN1_Sts is used to identify the communication status of the network channel corresponding to the symmetrical function between the left domain controller and the symmetrical function execution device, and the second status flag signal CAN2_Sts is used to identify the communication status of the network channel corresponding to the symmetrical function between the right domain controller and the symmetrical function execution device.

[0058] Optionally, CAN1_Sts and CAN2_Sts are configured such that when the value is "1", the network channel is in a woken-up state and can send and receive data packets normally; when the value is "0", the network channel is in a non-wake-up state and cannot send and receive data packets.

[0059] Therefore, based on the correspondence between the values ​​of the pre-stored status flag signals and the network channel status, and combined with the values ​​of the currently acquired first status flag signal CAN1_Sts and second status flag signal CAN2_Sts, it can be determined whether the network channel statuses corresponding to the left domain controller and the right domain controller performing the symmetrical function can both transmit commands normally.

[0060] In one possible implementation, when at least one of the network channel states of the left domain controller and the right domain controller is not in a wake-up state, the method further includes: S302, when at least one of the network channel states of the left domain controller and the right domain controller is not in a wake-up state, record the trigger request of the symmetric function; S303, detect if a trigger request for the symmetric function is received again within a preset time period; S304, based on the situation where a trigger request for the symmetric function is received again within a preset time period, determine whether the preset wake-up condition is met.

[0061] For example, if CAN1_Sts and CAN2_Sts are not both "1", it indicates that at least one network channel has not been woken up. In order to avoid the wake-up side acting alone, the symmetrical function execution device will not issue control commands.

[0062] Optionally, if at least one network channel is not in a wake-up state, the trigger request is recorded, and a timer window of a preset duration, such as 3 seconds, is started. The system detects if a trigger request for the symmetrical function is received again within the preset duration. Understandably, if the user has a strong desire for immediate action after the initial trigger request without vehicle response, it can be inferred that the user will likely quickly and repeatedly attempt to trigger the function to avoid initial trigger failure due to occasional system errors. Compared to reporting an error or abandoning the trigger upon initial failure, this improves fault tolerance and human-computer interaction friendliness.

[0063] In one possible implementation, step S304 determines whether the preset wake-up condition is met based on whether a trigger request for the symmetric function is received again within a preset time period, including: (3.1) Detect whether the number of times the symmetric function trigger request is received again within the preset time period reaches the preset number threshold; (3.2) If the number of times the trigger request for the symmetric function is received again within the preset time period reaches the preset number threshold, it is determined that the preset wake-up condition is met; otherwise, it is determined that the preset wake-up condition is not met, the record of the trigger request for the symmetric function is cleared, and the processing of the trigger request for the symmetric function is suspended.

[0064] Understandably, if at least one trigger request for the same symmetrical function is received again within a preset time period, it can be inferred that the user has a clear and strong intention to perform an immediate operation, and thus it can be determined that the network channel that is not in a wake-up state needs to be woken up to achieve the synchronous execution of the symmetrical function.

[0065] Here, the preset number of times threshold can be set based on experience, such as 1 time, 2 times, or 3 times. It can also be set in conjunction with the preset duration. When the preset duration is short, the preset number of times threshold should be smaller to ensure that the preset wake-up conditions are met; when the preset duration is long, the preset number of times threshold can be larger to reduce unnecessary network wake-ups caused by misoperation or occasional requests, thereby reducing resource waste.

[0066] Optionally, if the number of times the symmetric function trigger request is received again within a preset time period reaches a preset number threshold, it is determined that the preset wake-up condition is met, and then step S305 can be executed: if the preset wake-up condition is met, a wake-up request is sent to the network channel that is not in a wake-up state.

[0067] Here, an intelligent retry mechanism is introduced, which actively sends a wake-up request to the network channel that is not in a wake-up state, and attempts to wake up the network segment that is not ready. This achieves synchronous control while satisfying the user's operation intentions, demonstrating the intelligence and robustness of the vehicle system.

[0068] Optionally, if the number of times the trigger request for the symmetric function is received again within the preset time period does not reach the preset number threshold, it is determined that the preset wake-up condition is not met, and it is speculated that the user does not have a strong intention to operate immediately, and it may be a mistake. In this case, the record of the trigger request for this symmetric function is cleared, and the processing of the trigger request for this symmetric function is suspended.

[0069] After pausing the trigger request for this symmetrical function, the user can choose to report an error and abandon the trigger, or they can proactively ask the user if they wish to continue the operation through voice broadcast or a human-computer interaction screen. If the user indicates that they wish to continue the operation, the user can proceed to step S305, which involves sending a wake-up request to the network channel that is not in a wake-up state. If the user indicates that they do not wish to continue the operation, or if no user indication is received, the user can report an error and abandon the trigger.

[0070] S306 When both the network channels of the left domain controller and the right domain controller are in the wake-up state, the left domain control command and the right domain control command are generated respectively according to the trigger request of the symmetric function.

[0071] Here, when it is determined that the network channels between the symmetric function execution device and the left domain controller and the right domain controller are both in an awake state and can transmit instructions, the left domain control instruction and the right domain control instruction are generated according to the trigger request of the symmetric function. Based on the aforementioned awakened network channels, the left domain control instruction is sent to the left domain controller and the right domain control instruction is sent to the right domain controller, so that the left and right domain controllers respond to the control instructions and execute the symmetric function synchronously.

[0072] In one possible implementation, left domain control instructions and right domain control instructions are sent to the left domain controller and right domain controller, respectively, to synchronously execute symmetrical functions, including: S307, embeds a transmission timestamp in the left domain control command and the right domain control command respectively; wherein, the transmission timestamp is determined according to the signal propagation time of the network channel corresponding to the left domain controller and the signal propagation time of the network channel corresponding to the right domain controller; S308 sends a left domain control command to the left domain controller and a right domain control command to the right domain controller according to the corresponding sending timestamp, so that the time when the left domain controller receives the left domain control command is the same as the time when the right domain controller receives the right domain control command, so as to synchronously execute the symmetrical function.

[0073] Here, by embedding a transmission timestamp, the transmission timestamp is used to control the transmission time of the command, ensuring that the left domain control command and the right domain control command can be delivered to the corresponding controller at the same time.

[0074] Considering the potential differences in signal propagation delays between the symmetrical function actuator and the network channels between the left and right domain controllers, test signals can be used in advance to obtain the accurate signal propagation durations of the network channels on both sides. This allows for the selection of a reasonable transmission duration, and the generation of a corresponding transmission timestamp based on the current timestamp. This ensures that both control commands are simultaneously delivered to their respective controllers within a reasonable transmission duration. When the left and right domain controllers receive the control commands simultaneously, they immediately respond to the corresponding control commands and execute the corresponding actions, thereby achieving synchronous execution of the symmetrical function.

[0075] In another possible implementation, before S308 sends the left domain control instruction to the left domain controller and the right domain control instruction to the right domain controller according to the corresponding sending timestamp, the symmetric function execution method provided in this application embodiment further includes: configuring a preset high-priority message identifier for the left domain control instruction and the right domain control instruction.

[0076] Accordingly, S308 sends a left domain control instruction to the left domain controller and a right domain control instruction to the right domain controller according to the corresponding sending timestamp, including: sending a left domain control instruction carrying a high-priority message identifier to the left domain controller and a right domain control instruction carrying a high-priority message identifier to the right domain controller according to the corresponding sending timestamp.

[0077] Here, when multiple messages need to be sent simultaneously on the CAN bus, if a high-priority message is used, the bus access right can be obtained immediately without queuing, thus achieving the immediacy of command transmission and avoiding communication delays in network congestion or high-load conditions.

[0078] Alternatively, low-latency communication channels can be used to send control commands, such as Controller Area Network Flexible Data-Rate (CAN FD) with higher data rates or automotive Ethernet with higher base bandwidth.

[0079] The aforementioned methods, such as embedding transmission timestamps, configuring high-priority message identifiers, and using low-latency communication channels, are all synchronization control at the transmission level. In other embodiments, where extremely high synchronization accuracy is required, synchronization control is performed at the execution level, for example, by embedding execution timestamps.

[0080] Optionally, before sending the left domain control instruction to the left domain controller and the right domain control instruction to the right domain controller according to the corresponding sending timestamp in S308, the symmetric function execution method provided in this application embodiment further includes: embedding the same execution timestamp in the left domain control instruction and the right domain control instruction respectively.

[0081] Accordingly, S308 sends a left domain control instruction to the left domain controller and a right domain control instruction to the right domain controller according to the corresponding sending timestamp, including: sending the left domain control instruction and the right domain control instruction carrying the execution timestamp to the left domain controller and the right domain controller respectively according to the corresponding sending timestamp, so as to control the left domain controller and the right domain controller to synchronously execute the symmetrical function at the time corresponding to the execution timestamp.

[0082] Here, the execution timestamp is used to indicate when the controller executes the symmetrical function. Understandably, for some functions that require extremely high synchronization accuracy (such as the deployment of electric side steps in high-end cars), in addition to ensuring that the commands are sent simultaneously, embedding precise execution timestamps in the control commands requires the left and right controllers to perform corresponding actions at a precise absolute point in time, which can achieve microsecond-level synchronization accuracy.

[0083] In one possible implementation, step S301 detects the detection results of the network channel states corresponding to the left domain controller and the right domain controller that perform the symmetric function. This includes both the aforementioned result that at least one network channel state is not in the wake-up state and the result that both network channel states are in the wake-up state.

[0084] When a trigger request for a symmetrical function is received, and both network channels are detected to be in a wake-up state, no active wake-up is required, such as... Figure 3 As shown, after step S301, step S306 and subsequent steps can be executed directly.

[0085] In this embodiment, the network channel status corresponding to the left and right domain controllers performing symmetrical functions is monitored, and control commands are only sent when the network channels of both domain controllers are in a wake-up state. This fundamentally avoids the execution asynchrony problem caused by one side's network not being woken up. This embodiment also sets preset wake-up conditions to identify user intentions and actively sends wake-up requests to network channels that are not in a wake-up state. While meeting the user's immediate operation needs, it avoids unnecessary frequent wake-ups, ensuring both synchronization and energy saving requirements.

[0086] In addition, this embodiment also sets up a multi-level synchronization guarantee mechanism. At the sending level, the network latency difference is compensated by sending timestamps, and high-priority messages and / or low-latency communication channels are used to ensure the synchronous delivery of control commands. At the execution level, a higher-precision time synchronization is achieved by embedding a unified execution timestamp. The above-mentioned multi-level synchronization guarantee mechanism can realize the synchronous execution of symmetrical functions and improve the user experience.

[0087] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0088] Figure 4 This is a schematic diagram of the structure of a symmetrical function execution device provided in an embodiment of this application. For example... Figure 4 As shown, the symmetrical function execution device 400 provided in this embodiment may include a detection module 401 and a processing module 402.

[0089] Among them, the detection module 401 is used to detect the network channel status corresponding to the left domain controller and the right domain controller that execute the symmetric function when a trigger request for the symmetric function is received; The processing module 402 is used to send a wake-up request to the network channel that is not in the wake-up state if a preset wake-up condition is met when at least one of the network channel states of the left domain controller and the right domain controller is not in the wake-up state. The processing module 402 is also used to generate left domain control instructions and right domain control instructions respectively according to the trigger request of the symmetric function when the network channel status of both the left domain controller and the right domain controller is in the wake-up state. The processing module 402 is also used to send the left domain control command and the right domain control command to the left domain controller and the right domain controller respectively, so as to execute the symmetrical function synchronously.

[0090] In one possible implementation, the processing module 402 is specifically used to record the triggering request of the symmetric function; The processing module 402 is also specifically used to detect the situation where a trigger request for the symmetric function is received again within a preset time period; The processing module 402 is further used to determine whether the preset wake-up conditions are met based on the situation where a trigger request for the symmetric function is received again within a preset time period.

[0091] The above method records the trigger request and detects whether it is triggered again within a preset time to determine whether the user has a strong desire for immediate operation, thereby deciding whether to wake up the unready network, which enhances fault tolerance and human-computer interaction friendliness.

[0092] In one possible implementation, the processing module 402 is specifically used to detect whether the number of times the trigger request for the symmetric function is received again within a preset time period has reached a preset number threshold. The processing module 402 is further configured to determine that the preset wake-up condition is met if the number of times the trigger request for the symmetric function is received again within a preset time period reaches a preset number threshold; otherwise, it determines that the preset wake-up condition is not met, clears the record of the trigger request for the symmetric function, and suspends the processing of the trigger request for the symmetric function.

[0093] The aforementioned trigger count threshold is used as a preset wake-up condition to avoid unnecessary network wake-ups due to misoperation or occasional requests, thereby reducing resource waste and improving the intelligence and stability of the strategy.

[0094] In one possible implementation, the processing module 402 is specifically used to embed a transmission timestamp into the left domain control instruction and the right domain control instruction respectively; wherein, the transmission timestamp is determined based on the signal propagation duration of the network channel corresponding to the left domain controller and the signal propagation duration of the network channel corresponding to the right domain controller. The processing module 402 is further configured to send a left domain control instruction to the left domain controller and a right domain control instruction to the right domain controller according to the corresponding sending timestamp, so that the time when the left domain controller receives the left domain control instruction is the same as the time when the right domain controller receives the right domain control instruction, so as to synchronously execute the symmetrical function.

[0095] The above method embeds a transmission timestamp and adjusts the transmission time of the two control commands according to the network propagation delay to ensure that the two control commands arrive at the left and right domain controllers at the same time, thereby achieving high-precision time synchronization control. This enables the left and right domain controllers to respond to commands synchronously, realize the synchronous execution of symmetrical functions, and improve the user experience.

[0096] In one possible implementation, before sending the left domain control instruction to the left domain controller and the right domain control instruction to the right domain controller according to the corresponding sending timestamp, the processing module 402 is specifically configured with a preset high-priority message identifier for the left domain control instruction and the right domain control instruction. The processing module 402 is further configured to send a left domain control command carrying a high-priority message identifier to the left domain controller and a right domain control command carrying a high-priority message identifier to the right domain controller according to the corresponding sending timestamp.

[0097] By employing high-priority message identifiers, the two control commands can still be transmitted in a timely manner under network congestion or high load conditions, thereby improving the real-time performance and reliability of transmission.

[0098] In one possible implementation, before sending the left domain control instruction to the left domain controller and the right domain control instruction to the right domain controller according to the corresponding sending timestamp, the processing module 402 is further configured to embed the same execution timestamp in the left domain control instruction and the right domain control instruction respectively. The processing module 402 is further configured to send the left domain control instruction and the right domain control instruction carrying the execution timestamp to the left domain controller and the right domain controller respectively according to the corresponding sending timestamp, so as to control the left domain controller and the right domain controller to synchronously execute the symmetrical function at the time corresponding to the execution timestamp.

[0099] The above method, by embedding a unified execution timestamp, controls the left and right domain controllers to execute symmetrical functions synchronously, achieving precise synchronization control at the actuator level, which is suitable for scenarios with higher requirements for synchronization accuracy.

[0100] In one possible implementation, the detection module 401 is specifically used to obtain the value of the first status flag signal of the network channel corresponding to the left domain controller performing the symmetric function, and the value of the second status flag signal of the network channel corresponding to the right domain controller performing the symmetric function. The detection module 401 is further used to determine the network channel status corresponding to the left domain controller and the right domain controller that perform the symmetrical function, respectively, based on the values ​​of the first status flag signal and the second status flag signal, as well as the pre-stored correspondence between the values ​​of the status flag signals and the network channel status.

[0101] The above provides a method for sensing the network channel status by reading status flag signals, which provides an accurate basis for the synchronous execution of symmetrical functions, and enhances perceptibility and controllability.

[0102] In one possible implementation, the detection module 401 is further configured to, if a trigger request for the target function is received, determine whether the target function is a symmetrical function based on a pre-stored management list; wherein the management list includes pre-marked symmetrical functions; the detection module 401 is further configured to, if the target function is a symmetrical function, determine that a trigger request for a symmetrical function has been received.

[0103] The above-mentioned method of identifying symmetrical functions through a management list and automatically distinguishing and processing symmetrical and asymmetrical functions enhances the scalability and configurability of the symmetrical function execution device 400 in this application embodiment.

[0104] In one possible implementation, after detecting the network channel status of the left domain controller and the right domain controller that perform the symmetric function, the processing module 402 is further configured to generate a left domain control command and a right domain control command respectively according to the trigger request of the symmetric function when the network channel status of both the left domain controller and the right domain controller is in the wake-up state; the processing module 402 is further configured to send the left domain control command and the right domain control command to the left domain controller and the right domain controller respectively to execute the symmetric function synchronously.

[0105] Here, when a symmetric function trigger request is received and both network channels are detected to be in a wake-up state, without the need for active wake-up, the subsequent synchronization control strategy can be executed directly.

[0106] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0107] Figure 5 This is a schematic diagram of the structure of a vehicle provided in one embodiment of this application. Figure 5 As shown, the vehicle in this embodiment includes a processor 510 and a memory 520, wherein the memory 520 stores a computer program 521 that can run on the processor 510. When the processor 510 executes the computer program 521, it implements the steps in any of the above method embodiments, for example... Figure 2 Steps S201 to S204 are shown. Alternatively, when processor 510 executes computer program 521, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 4 The functions of the detection module 401 and the processing module 402 shown are illustrated.

[0108] For example, computer program 521 may be divided into one or more modules / units, one or more of which are stored in memory 520 and executed by processor 510 to complete this application. The one or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of computer program 521 in a vehicle.

[0109] Those skilled in the art will understand that Figure 5 This is merely an example of a vehicle and does not constitute a limitation on the vehicle. It may include more or fewer components than shown, or combinations of certain components, or different components, such as input / output devices, network access devices, buses, etc.

[0110] The processor 510 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0111] The memory 520 can be an internal storage unit of the vehicle, such as a hard drive or memory, or an external storage device, such as a plug-in hard drive, smart media card (SMC), secure digital (SD) card, flash card, etc. The memory 520 can also include both internal and external storage devices. The memory 520 is used to store computer programs and other programs and data required by the vehicle. The memory 520 can also be used to temporarily store data that has been output or will be output.

[0112] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0113] An embodiment of this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described symmetric function execution method.

[0114] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0115] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0116] In the embodiments provided in this application, it should be understood that the disclosed devices / vehicles and methods can be implemented in other ways. For example, the device / vehicle embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0117] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0118] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0119] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0120] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for executing symmetrical functions, characterized in that, include: Upon receiving a trigger request for a symmetric function, the network channel status corresponding to the left domain controller and the right domain controller executing the symmetric function is detected; If at least one of the network channel states of the left domain controller and the right domain controller is not in a wake-up state, and if the preset wake-up condition is met, a wake-up request is sent to the network channel that is not in a wake-up state. When the network channel states of both the left domain controller and the right domain controller are in the wake-up state, the left domain control command and the right domain control command are generated respectively according to the trigger request of the symmetric function. The left domain control command and the right domain control command are sent to the left domain controller and the right domain controller, respectively, to execute the symmetric function synchronously.

2. The symmetric function execution method according to claim 1, characterized in that, When at least one of the network channel states of the left domain controller and the right domain controller is not in a wake-up state, the method further includes: Record the trigger request for the symmetrical function; The system detects if a trigger request for the symmetrical function is received again within a preset time period. Based on the case where the symmetric function trigger request is received again within the preset time period, it is determined whether the preset wake-up condition is met.

3. The symmetric function execution method according to claim 2, characterized in that, The step of determining whether the preset wake-up condition is met based on the situation where the trigger request for the symmetric function is received again within the preset time period includes: Detect whether the number of times the trigger request for the symmetric function is received again within the preset time period reaches a preset number threshold; If the number of times the trigger request for the symmetric function is received again within the preset time period reaches the preset number threshold, it is determined that the preset wake-up condition is met; otherwise, it is determined that the preset wake-up condition is not met, the record of the trigger request for the symmetric function is cleared, and the processing of the trigger request for the symmetric function is suspended.

4. The symmetric function execution method according to any one of claims 1-3, characterized in that, The step of sending the left domain control command and the right domain control command to the left domain controller and the right domain controller respectively to synchronously execute the symmetric function includes: A transmission timestamp is embedded in both the left domain control command and the right domain control command; wherein the transmission timestamp is determined based on the signal propagation duration of the network channel corresponding to the left domain controller and the signal propagation duration of the network channel corresponding to the right domain controller. According to the corresponding sending timestamp, the left domain control instruction is sent to the left domain controller and the right domain control instruction is sent to the right domain controller, so that the time when the left domain controller receives the left domain control instruction is the same as the time when the right domain controller receives the right domain control instruction, so as to synchronously execute the symmetric function.

5. The symmetric function execution method according to claim 4, characterized in that, Before sending the left domain control command to the left domain controller and the right domain control command to the right domain controller according to the corresponding sending timestamp, the method further includes: Configure preset high-priority message identifiers for the left domain control command and the right domain control command; The step of sending the left domain control command to the left domain controller and the right domain control command to the right domain controller according to the corresponding sending timestamp includes: According to the corresponding sending timestamp, the left domain control instruction carrying the high-priority message identifier is sent to the left domain controller, and the right domain control instruction carrying the high-priority message identifier is sent to the right domain controller.

6. The symmetric function execution method according to claim 4, characterized in that, Before sending the left domain control command to the left domain controller and the right domain control command to the right domain controller according to the corresponding sending timestamp, the method further includes: The same execution timestamp is embedded in both the left domain control instruction and the right domain control instruction; The step of sending the left domain control command to the left domain controller and the right domain control command to the right domain controller according to the corresponding sending timestamp includes: According to the corresponding sending timestamp, the left domain control instruction and the right domain control instruction carrying the execution timestamp are sent to the left domain controller and the right domain controller respectively, so as to control the left domain controller and the right domain controller to synchronously execute the symmetric function at the time corresponding to the execution timestamp.

7. The symmetric function execution method according to any one of claims 1-3, characterized in that, The detection of the network channel status corresponding to the left domain controller and right domain controller performing the symmetric function includes: Obtain the value of the first status flag signal of the network channel corresponding to the left domain controller that performs the symmetric function, and the value of the second status flag signal of the network channel corresponding to the right domain controller that performs the symmetric function; Based on the values ​​of the first status flag signal and the second status flag signal, as well as the pre-stored correspondence between the values ​​of the status flag signals and the network channel status, the network channel status corresponding to the left domain controller and the right domain controller that perform the symmetrical function is determined respectively.

8. The symmetric function execution method according to any one of claims 1-3, characterized in that, The method further includes: If a trigger request for a target function is received, it is determined whether the target function is a symmetrical function based on a pre-stored management list; wherein, the management list includes pre-marked symmetrical functions; If the target function is a symmetrical function, then it is determined that a trigger request for the symmetrical function has been received.

9. A symmetrical function execution device, characterized in that, include: The detection module is used to detect the network channel status corresponding to the left domain controller and the right domain controller that execute the symmetric function when a trigger request for the symmetric function is received; The processing module is configured to send a wake-up request to the network channel that is not in a wake-up state when at least one of the network channel states of the left domain controller and the right domain controller is not in a wake-up state, if a preset wake-up condition is met. The processing module is further configured to generate left domain control instructions and right domain control instructions respectively according to the trigger request of the symmetric function when the network channel states of the left domain controller and the right domain controller are both in the wake-up state. The processing module is further configured to send the left domain control command and the right domain control command to the left domain controller and the right domain controller respectively, so as to execute the symmetric function synchronously.

10. A vehicle comprising a memory and a processor, the memory storing a computer program executable on the processor, characterized in that, When the processor executes the computer program, it implements the symmetric function execution method as described in any one of claims 1 to 8.

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