Vehicle control methods, devices and readable storage media
By adopting a CAN protocol stack structure with a master control core and a slave control core in electric vehicles, the cross-core traffic is optimized, the problem of unstable task scheduling caused by excessive CPU load is solved, and more efficient CAN communication stability is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- VOYAH AUTOMOBILE TECH CO LTD
- Filing Date
- 2026-01-21
- Publication Date
- 2026-06-02
AI Technical Summary
The CPU load on the core where the CAN protocol stack of existing electric vehicles is located is too high, resulting in jitter in the task scheduling cycle and instability in CAN communication.
The system adopts a central controller with a main control core and multiple sub-control cores. Control messages are sent from the first protocol stack of the main control core to the second protocol stack of the target sub-control core. The target sub-control core responds to the control messages, reducing cross-core traffic and optimizing the load on the central controller.
This improved the operational stability of the central controller and the stability of task scheduling, reduced the CPU load, and ensured the stability of CAN communication.
Smart Images
Figure CN122137697A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of new energy vehicle technology, and in particular to a vehicle control method, device, and readable storage medium. Background Technology
[0002] Currently, electric vehicles can be equipped with multi-core chip-based vehicle domain controllers. These controllers handle a large volume of communication traffic, and application layer software is often deployed on different cores from the CAN (Controller Area Network) protocol stack. When application software needs to interact with external ECUs (Electronic Control Units) via CAN, a cross-core proxy (RTE) is required to establish the communication link. This RTE cross-core proxy operation consumes significant CPU (Central Processing Unit) resources, causing excessive CPU load on the core hosting the CAN protocol stack. When the load on the CAN protocol stack core is too high, it can lead to jitter or even disorder in the task scheduling cycle of that core, affecting the accuracy of task execution and the stability of CAN communication. Therefore, existing vehicle control methods suffer from technical problems such as poor operational stability. Summary of the Invention
[0003] This application provides a vehicle control method, apparatus, and readable storage medium to solve technical problems such as poor operational stability in the prior art.
[0004] A first aspect of this application provides a vehicle control method. The vehicle includes a central controller and a communication bus. The central controller includes a main control core and multiple sub-control cores. The main control core includes a first protocol stack, and each sub-control core includes a second protocol stack. The method includes: The main control core receives control messages sent by the communication bus. Control the main control core and determine the target sub-control core corresponding to the control message among multiple sub-control cores; The control message is sent to the second protocol stack of the target sub-control core through the first protocol stack; When the second protocol stack of the target sub-control core receives a control message, the target sub-control core responds to the control message.
[0005] The vehicle control method in this embodiment controls the main control core, determines the target sub-control core corresponding to the control message among multiple sub-control cores, sends the control message to the second protocol stack of the target sub-control core through the first protocol stack, and controls the target sub-control core to respond to the control message when the second protocol stack of the target sub-control core receives the control message, thereby improving the operational stability of the central controller.
[0006] A second aspect of this application provides a vehicle control device. The vehicle includes a central controller and a communication bus. The central controller includes a main control core and multiple sub-control cores. The main control core includes a first protocol stack, and each sub-control core includes a second protocol stack. The device includes: The first control unit is used to control the main control core to receive control messages sent by the communication bus; The second control unit is used to control the main control core and determine the target sub-control core corresponding to the control message among multiple sub-control cores; The third control unit is used to send control messages to the second protocol stack of the target sub-control core through the first protocol stack; The fourth control unit is used to control the target sub-control core to respond to the control message when the second protocol stack of the target sub-control core receives the control message.
[0007] In this embodiment, the vehicle control device controls the main control core, determines the target sub-control core corresponding to the control message among multiple sub-control cores, and sends the control message to the second protocol stack of the target sub-control core through the first protocol stack. When the second protocol stack of the target sub-control core receives the control message, it controls the target sub-control core to respond to the control message, thereby improving the operational stability of the central controller.
[0008] A third aspect of this application provides another vehicle control device, including a processor and a memory. The memory stores a computer program that, when executed by the processor, implements the steps of the vehicle control method as described in any of the above embodiments. Therefore, this vehicle control device possesses all the beneficial effects of the vehicle control method in any of the above embodiments, which will not be elaborated further here.
[0009] A fourth aspect of this application provides a readable storage medium storing a program or instructions that, when executed by a processor, implement the steps of the vehicle control method as described in any of the above embodiments. Therefore, this readable storage medium possesses all the beneficial effects of the vehicle control method in any of the above embodiments, which will not be elaborated further here. Attached Figure Description
[0010] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0011] Figure 1 A flowchart of a vehicle control method provided in an embodiment of this application; Figure 2A schematic diagram of a central controller provided in an embodiment of this application; Figure 3 Functional block diagram of the vehicle control device provided in the embodiments of this application; Figure 4 This is a structural block diagram of a vehicle control device provided in an embodiment of this application. Detailed Implementation
[0012] To better understand the technical solutions provided in the embodiments of this specification, the technical solutions of the embodiments of this specification will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this specification, rather than limitations on the technical solutions of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.
[0013] In this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. The term "two or more" includes two or more cases.
[0014] In some embodiments, such as Figure 1 As shown, an embodiment of this application provides a vehicle control method, including: Step S101: Control the main control core to receive control messages sent by the communication bus; Step S102: Control the main control core and determine the target sub-control core corresponding to the control message among multiple sub-control cores; Step S103: Send the control message to the second protocol stack of the target sub-control core through the first protocol stack; Step S104: When the second protocol stack of the target sub-control core receives the control message, the target sub-control core responds to the control message.
[0015] In this embodiment, a vehicle control method is proposed. The vehicle includes a central controller and a communication bus. The central controller includes a main control core and multiple sub-control cores. The main control core includes a first protocol stack, and each sub-control core includes a second protocol stack.
[0016] The central controller is the control center of the vehicle, and the communication bus is the information exchange bus for the vehicle.
[0017] The main control core is the main control core of the central controller, and the sub-control core is the sub-control core of the central controller. The first protocol stack is the protocol stack in the main control core, and the second protocol stack is the protocol stack in the sub-control core.
[0018] For example, the communication bus may specifically be a CAN communication link.
[0019] For example, the first protocol stack may be specifically a CAN protocol stack.
[0020] For example, the second protocol stack may be specifically a CAN protocol stack.
[0021] For example, the main control core may include an application layer, an RTE layer, a first protocol stack, and a driver layer.
[0022] For example, the sub-control core may include an application layer, an RTE layer, and a second protocol stack.
[0023] For example, the first protocol stack of the master control core is connected to the second protocol stack of each sub-control core.
[0024] The main control core receives control messages sent by the communication bus, where the control messages are messages that control specific functions of the vehicle.
[0025] For example, the control message may specifically be a message controlling the vehicle's air conditioning.
[0026] For example, the control message may specifically be a message controlling the vehicle audio system.
[0027] For example, a control message can specifically be a message that controls vehicle speed.
[0028] For example, the control message may specifically be a message that initiates the automatic parking function.
[0029] Control the main control core and determine the target sub-control core corresponding to the control message among multiple sub-control cores, where the target sub-control core is the sub-control core corresponding to the control message.
[0030] For example, the target sub-control kernel is the sub-control kernel that responds to control messages.
[0031] The control message is sent to the second protocol stack of the target sub-control core through the first protocol stack.
[0032] For example, the first protocol stack and the second protocol stack are connected via cross-core routing.
[0033] When the second protocol stack of the target sub-control core receives a control message, the target sub-control core responds to the control message.
[0034] It should be noted that the central controller in this example includes a main control core and multiple sub-control cores. Different services in the vehicle are assigned to different sub-control cores, which reduces the cross-core service volume of the central controller, thereby reducing the operating load of the central controller and improving the task scheduling stability of the central controller.
[0035] The vehicle control method in this embodiment controls the main control core, determines the target sub-control core corresponding to the control message among multiple sub-control cores, sends the control message to the second protocol stack of the target sub-control core through the first protocol stack, and controls the target sub-control core to respond to the control message when the second protocol stack of the target sub-control core receives the control message, thereby improving the operational stability of the central controller.
[0036] In some embodiments, this application provides a vehicle control method, which controls a main control core and determines a target sub-control core corresponding to a control message among multiple sub-control cores, including: Control the main control core and determine the pending business corresponding to the control message; Control the main control core and determine the target sub-control core corresponding to the business to be executed among multiple sub-control cores.
[0037] In this embodiment, the main control core is controlled to determine the service to be executed corresponding to the control message, wherein the service to be executed is the service that the target sub-control core needs to execute.
[0038] For example, the service to be performed can specifically be the service of controlling the vehicle's air conditioning.
[0039] For example, the service to be performed can specifically be the service of controlling the vehicle audio system.
[0040] For example, the service to be performed can specifically be a service that controls vehicle speed.
[0041] For example, the business to be performed can be specifically the business of activating the automatic parking function.
[0042] Control the main control core and determine the target sub-control core corresponding to the business to be executed among multiple sub-control cores.
[0043] For example, based on the correspondence between services and sub-control cores, the target sub-control core corresponding to the service to be executed among multiple sub-control cores can be determined.
[0044] In some embodiments, this application provides a vehicle control method, in which multiple sub-control cores correspond one-to-one with multiple preset services, controlling a main control core, and determining the target sub-control core corresponding to the service to be executed among the multiple sub-control cores, including: The main control core compares the service to be executed with multiple preset services to determine the target preset service among the multiple preset services. The target preset service is the same preset service as the service to be executed. Control the main control core and determine the sub-control core corresponding to the target preset service as the target sub-control core.
[0045] In this embodiment, multiple sub-control cores correspond one-to-one with multiple preset services.
[0046] For example, multiple preset services are assigned to multiple preset services so that multiple sub-control cores correspond one-to-one with multiple preset services.
[0047] The control master core compares the service to be executed with multiple preset services to determine the target preset service among the multiple preset services. The target preset service is the same preset service as the service to be executed.
[0048] For example, the business to be executed is compared with multiple preset businesses, and the preset business that is the same as the business to be executed is the target preset business.
[0049] Control the main control core and determine the sub-control core corresponding to the target preset service as the target sub-control core.
[0050] For example, based on the correspondence between multiple sub-control cores and multiple preset services, the sub-control core corresponding to the target preset service is determined as the target sub-control core.
[0051] In some embodiments, this application provides a vehicle control method, which further includes, after the target sub-controller responds to a control message: The target sub-control core is controlled, and a response message corresponding to the control message is generated. The response message is sent to the first protocol stack via the second protocol stack of the target sub-control core.
[0052] In this embodiment, the target sub-control core is controlled to generate a response message corresponding to the control message, wherein the response message is the response message after the target sub-control core executes the control message.
[0053] For example, the response message can specifically be a CAN response message.
[0054] The response message is sent to the first protocol stack via the second protocol stack of the target sub-control core.
[0055] For example, the response message is sent to the first protocol stack through the second protocol stack of the target sub-control core so that the main control core receives the response message.
[0056] In some embodiments, this application provides a vehicle control method, wherein the main control core further includes a message transceiver, and after sending a response message to the first protocol stack through the second protocol stack of the target sub-control core, the method further includes: Control the first protocol stack and send the response message to the message transceiver; Control the message transceiver to send response messages to the communication bus.
[0057] In this embodiment, the main control core also includes a message transceiver, which is used to send and receive messages on the communication bus.
[0058] For example, the message transceiver can be a CAN transceiver.
[0059] Control the first protocol stack to send response messages to the message transceiver, and control the message transceiver to send response messages to the communication bus.
[0060] In some embodiments, this application provides a vehicle control method that controls the main control core to receive control messages sent by a communication bus, including: The control message transceiver receives control messages sent by the communication bus.
[0061] In this embodiment, the control message transceiver receives control messages sent by the communication bus.
[0062] For example, during the operation of the central controller, control messages sent by the communication bus are typically received via a message transceiver.
[0063] For example, the message sending process is as follows: The application layer software component (SWC) fills the RTE_Buff of the RTE layer with the signal value to be sent through the RTE_Write() function; The Com module will package the CAN signal into PDUs according to the byte arrangement defined in the CAN matrix. One PDU (Process Data Unit) corresponds to one CAN message. The Com module will then pass the PDU to the PduR module (which undertakes the core routing function). The PduR module then passes the PDU to the CanIf module (interacting with the upper-level module through a standardized interface). The CanIf module assigns the PDU to different CAN channels and ultimately sends it to different CAN network segments.
[0064] For example, the message receiving process is as follows: After the CAN message enters the driver layer through the CAN transceiver, it is then passed to the CanIf module; The CanIf module transmits the message to the PduR module in the form of a PDU; The PduR module transmits the PDU to the Com module; The COM module breaks down the received PDU into individual CAN signals according to the byte arrangement defined in the CAN matrix, and fills the signal values into RTE_buff. The SWC (Software Component) then reads the required signal values through the RTE_Read() function.
[0065] For example, such as Figure 2 As shown, the CAN protocol stack is deployed on both Core0 and Core1, with Core0 as the main control core and Core1 as the sub-control core, to deploy a complete CAN protocol stack. The driver module CanDriver is only deployed on Core0. The main function of this module is to encapsulate CAN messages according to the CAN protocol specification and receive and send messages through the CAN transceiver.
[0066] The domain controller supports multiple CAN channels, and all message reception and transmission for all CAN channels are completed on Core0.
[0067] Other cores, such as Core1, only deploy the PduR and Com modules of the CAN protocol stack.
[0068] When the SWC on Core1 sends a CAN message, the Com module on Core1 packages the CAN signal group into a PDU and passes it to the PduR module of Core1. The PduR module of Core1 then passes the PDU to the PduR of Core0 through the PduR cross-core. Finally, it is encapsulated by the CanDriver on Core0 and sent to the CAN bus through the CAN transceiver. When the SWC on Core1 receives a CAN message, the CanDriver on Core0 receives the CAN message through the CAN transceiver, and then passes the PDU to the PduR module of Core0 via CanIf. The PduR module of Core0 then passes the PDU to the PduR of Core1 via the PduR cross-core. The PduR of Core1 then passes the PDU to the Com of Core1, which decomposes the PDU into CAN signals and passes them to the SWC of Core1 via RTE for use.
[0069] The CAN message transmission and reception required by the SWC deployed on Core0 are accomplished through the CAN protocol stack of Core0.
[0070] All packets routed across cores via PduR are packets required by the SWC on the target core. A single PDU consists of multiple CAN signals. PduR cross-core services are implemented at the PDU level, while the cross-core services in the prior art described above are implemented via RTE, which uses CAN signals as units. Clearly, the cross-core service volume of the present invention is far lower than that of the prior art. Furthermore, after the PDU is routed across cores to the target core, the number of PDUs that the main core's Com module needs to process is greatly reduced, and the load on the Com module is also reduced. In summary, this invention can effectively reduce the CPU load on the main core.
[0071] This embodiment only uses two cores (Core0 and Core1) and two CAN channels (CAN0 and CAN1) as an example to illustrate the solution. In actual application scenarios, the number of cores in a multi-core main control chip varies from 2 to 6, and the number of CAN network segments is not limited to two (it can be as many as 10 or more). The general idea is to use PduR across cores to distribute the PDU to each target core according to the SWC requirements of each core, thereby sharing the CAN communication service of the main core.
[0072] For example, in this embodiment, the main core deploys a complete CAN protocol stack to handle CAN message transmission and reception. Through PduR cross-core routing, the CAN message splitting and reassembly services are distributed to different cores according to the CAN communication service requirements of each core SWC. This can reduce the number of PDUs processed by the main core CAN protocol stack Com module, thereby reducing the load overhead of the Com module. For example, a PDU consists of multiple CAN signals. PduR cross-core services are based on PDUs, while the cross-core services in the prior art described above are implemented through RTEs, which are based on CAN signals. Obviously, the cross-core service volume of the present invention is much lower than that of the prior art, and the load overhead caused by cross-core services is also greatly reduced.
[0073] For example, by optimizing the main core load based on the above two aspects, it is possible to ensure that the main core OS task scheduling is more stable and the task real-time performance is better.
[0074] In some embodiments, such as Figure 3 As shown, an embodiment of this application provides a vehicle control device 300. The vehicle includes a central controller and a communication bus. The central controller includes a main control core and multiple sub-control cores. The main control core includes a first protocol stack, and each sub-control core includes a second protocol stack. The vehicle control device 300 includes: The first control unit 302 is used to control the main control core to receive control messages sent by the communication bus; The second control unit 304 is used to control the main control core and determine the target sub-control core corresponding to the control message among multiple sub-control cores; The third control unit 306 is used to send control messages to the second protocol stack of the target sub-control core through the first protocol stack; The fourth control unit 308 is used to control the target sub-control core to respond to the control message when the second protocol stack of the target sub-control core receives the control message.
[0075] In this embodiment, a vehicle control device 300 is proposed. The vehicle includes a central controller and a communication bus. The central controller includes a main control core and multiple sub-control cores. The main control core includes a first protocol stack, and each sub-control core includes a second protocol stack.
[0076] The central controller is the control center of the vehicle, and the communication bus is the information exchange bus for the vehicle.
[0077] The main control core is the main control core of the central controller, and the sub-control core is the sub-control core of the central controller. The first protocol stack is the protocol stack in the main control core, and the second protocol stack is the protocol stack in the sub-control core.
[0078] For example, the communication bus may specifically be a CAN communication link.
[0079] For example, the first protocol stack may be specifically a CAN protocol stack.
[0080] For example, the second protocol stack may be specifically a CAN protocol stack.
[0081] For example, the main control core may include an application layer, an RTE layer, a first protocol stack, and a driver layer.
[0082] For example, the sub-control core may include an application layer, an RTE layer, and a second protocol stack.
[0083] For example, the first protocol stack of the master control core is connected to the second protocol stack of each sub-control core.
[0084] The main control core receives control messages sent by the communication bus, where the control messages are messages that control specific functions of the vehicle.
[0085] For example, the control message may specifically be a message controlling the vehicle's air conditioning.
[0086] For example, the control message may specifically be a message controlling the vehicle audio system.
[0087] For example, a control message can specifically be a message that controls vehicle speed.
[0088] For example, the control message may specifically be a message that initiates the automatic parking function.
[0089] Control the main control core and determine the target sub-control core corresponding to the control message among multiple sub-control cores, where the target sub-control core is the sub-control core corresponding to the control message.
[0090] For example, the target sub-control kernel is the sub-control kernel that responds to control messages.
[0091] The control message is sent to the second protocol stack of the target sub-control core through the first protocol stack.
[0092] For example, the first protocol stack and the second protocol stack are connected via cross-core routing.
[0093] When the second protocol stack of the target sub-control core receives a control message, the target sub-control core responds to the control message.
[0094] It should be noted that the central controller in this example includes a main control core and multiple sub-control cores. Different services in the vehicle are assigned to different sub-control cores, which reduces the cross-core service volume of the central controller, thereby reducing the operating load of the central controller and improving the task scheduling stability of the central controller.
[0095] In this embodiment, the vehicle control device 300 controls the main control core, determines the target sub-control core corresponding to the control message among multiple sub-control cores, and sends the control message to the second protocol stack of the target sub-control core through the first protocol stack. When the second protocol stack of the target sub-control core receives the control message, it controls the target sub-control core to respond to the control message, thereby improving the operational stability of the central controller.
[0096] In some embodiments of this application, a vehicle control device 300 is provided, wherein the second control unit 304 is further configured to: Control the main control core and determine the pending business corresponding to the control message; Control the main control core and determine the target sub-control core corresponding to the business to be executed among multiple sub-control cores.
[0097] In some embodiments of this application, a vehicle control device 300 is provided, wherein the second control unit 304 is further configured to: The main control core compares the service to be executed with multiple preset services to determine the target preset service among the multiple preset services. The target preset service is the same preset service as the service to be executed. Control the main control core and determine the sub-control core corresponding to the target preset service as the target sub-control core.
[0098] In some embodiments of this application, a vehicle control device 300 is provided, wherein the fourth control unit 308 is further configured to: The second protocol stack of the control target sub-control core sends control messages to the application layer; When the application layer receives a control message, it controls the application layer to execute the control message.
[0099] In some embodiments of this application, a vehicle control device 300 is provided, further comprising a fifth control unit, the fifth control unit being used for: The target sub-control core is controlled, and a response message corresponding to the control message is generated. The response message is sent to the first protocol stack via the second protocol stack of the target sub-control core.
[0100] In some embodiments of this application, a vehicle control device 300 is provided, which further includes a sixth control unit, the sixth control unit being used for: Control the first protocol stack and send the response message to the message transceiver; Control the message transceiver to send response messages to the communication bus.
[0101] In some embodiments, the present application provides a vehicle control device 300, which further includes a seventh control unit, the seventh control unit being used for: The control message transceiver receives control messages sent by the communication bus.
[0102] In some embodiments, such as Figure 4 As shown, a vehicle control device 400 is proposed. The vehicle control device 400 includes a processor 402 and a memory 404. The memory 404 stores a computer program, which, when executed by the processor 402, implements the steps of the vehicle control method as described in any of the above embodiments. Therefore, the vehicle control device 400 possesses all the beneficial effects of the vehicle control method in any of the above embodiments, which will not be elaborated further here.
[0103] In some embodiments, a readable storage medium is provided having a program stored thereon, which, when executed by a processor, implements the steps of the vehicle control method as described in any of the above embodiments, and thus has all the beneficial technical effects of the vehicle control method described in any of the above embodiments.
[0104] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.
[0105] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-readable program code.
[0106] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.
[0107] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.
[0108] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.
[0109] This application also provides a computer program product, which includes computer software instructions that, when executed on a processing device, cause the processing device to execute a process of a vehicle control method.
[0110] A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).
[0111] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.
[0112] In the several embodiments provided in this application, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of 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, or indirect coupling or communication connection between devices or units, and may be electrical, mechanical, or other forms.
[0113] 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.
[0114] 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.
[0115] If the integrated 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, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0116] The above 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.
[0117] Although preferred embodiments have been described in this specification, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this specification.
[0118] Obviously, those skilled in the art can make various modifications and variations to this specification without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims and their equivalents, this specification is also intended to include such modifications and variations.
Claims
1. A method for controlling a vehicle, characterized in that, The vehicle includes a central controller and a communication bus. The central controller includes a main control core and multiple sub-control cores. The main control core includes a first protocol stack, and each sub-control core includes a second protocol stack. The method includes: The main control core is controlled to receive control messages sent by the communication bus. Control the main control core and determine the target sub-control core corresponding to the control message among the multiple sub-control cores; The control message is sent to the second protocol stack of the target sub-control core through the first protocol stack; When the second protocol stack of the target sub-control core receives the control message, it controls the target sub-control core to respond to the control message.
2. The method according to claim 1, characterized in that, The control of the main control core, determining the target sub-control core corresponding to the control message among the multiple sub-control cores, includes: Control the main control core to determine the service to be executed corresponding to the control message; Control the main control core and determine the target sub-control core corresponding to the service to be executed among the multiple sub-control cores.
3. The method according to claim 2, characterized in that, The multiple sub-control cores correspond one-to-one with multiple preset services. Controlling the main control core and determining the target sub-control core corresponding to the service to be executed among the multiple sub-control cores includes: The main control core is controlled to compare the service to be executed with multiple preset services to determine a target preset service among the multiple preset services, wherein the target preset service is the same preset service as the service to be executed. Control the main control core to determine the sub-control core corresponding to the target preset service as the target sub-control core.
4. The method according to claim 1, characterized in that, The target sub-control core also includes an application layer, and the control of the target sub-control core in response to the control message includes: The second protocol stack controlling the target sub-control core sends the control message to the application layer; When the application layer receives the control message, it controls the application layer to execute the control message.
5. The method according to any one of claims 1 to 4, characterized in that, After the target sub-control kernel responds to the control message, the method further includes: Control the target sub-control core to generate a response message corresponding to the control message; The response message is sent to the first protocol stack via the second protocol stack of the target sub-control core.
6. The method according to claim 5, characterized in that, The main control core further includes a message transceiver. After sending the response message to the first protocol stack through the second protocol stack of the target sub-control core, the method further includes: Control the first protocol stack to send the response message to the message transceiver; Control the message transceiver to send the response message to the communication bus.
7. The method according to claim 6, characterized in that, The control of the main control core to receive control messages sent by the communication bus includes: The transceiver is controlled to receive the control messages sent by the communication bus.
8. A vehicle control device, characterized in that, The vehicle includes a central controller and a communication bus. The central controller includes a main control core and multiple sub-control cores. The main control core includes a first protocol stack, and each sub-control core includes a second protocol stack. The device includes: The first control unit is used to control the main control core to receive control messages sent by the communication bus; The second control unit is used to control the main control core and determine the target sub-control core corresponding to the control message among the multiple sub-control cores; The third control unit is used to send the control message to the second protocol stack of the target sub-control core through the first protocol stack; The fourth control unit is used to control the target sub-control core to respond to the control message when the second protocol stack of the target sub-control core receives the control message.
9. A vehicle control device, characterized in that, include: processor; A memory, which stores programs or instructions, wherein a processor, when executing the programs or instructions in the memory, implements the steps of the vehicle control method as described in any one of claims 1 to 7.
10. A readable storage medium, characterized in that, A program or instructions are stored on a readable storage medium, which, when executed by a processor, implement the steps of the vehicle control method as described in any one of claims 1 to 7.