Dual-ecu synchronous starting control method and device and vehicle

Abstract

The application discloses a dual-ECU synchronous starting control method and device and a vehicle, relates to the field of vehicle-mounted controller embedded control, and comprises the following steps: identifying a master ECU and a slave ECU of a dual-engine electronic control unit (ECU) based on a fixed pin level; in response to the master ECU and the slave ECU satisfying a preset bidirectional hard-wire trigger logic, determining that the master ECU and the slave ECU are successfully started synchronously; and controlling the master ECU to activate an application layer periodic task scheduler, and determining a synchronous starting periodic task of the master ECU and the slave ECU, so as to realize rapid and safe identity recognition in the starting initial stage, form a bidirectional synchronous confirmation mechanism, realize bidirectional synchronous triggering at the hardware level, ensure starting timing consistency, have high synchronous precision, guarantee synchronous and orderly execution of multi-cylinder control tasks, and improve torque response precision of a dual-ECU control model.

Description

Technical Field

[0001] This application relates to the field of embedded control of vehicle controllers, and in particular to a dual ECU synchronous start control method, a dual ECU synchronous start control device, and a vehicle. Background Technology

[0002] As automotive electronic and electrical architectures upgrade towards domain control and centralization, and as functional safety (ISO 26262) and driving safety requirements continue to increase, a single engine electronic control unit (ECU) can no longer meet the control demands for high safety levels, high reliability, and strong real-time coordination. This has led to the development of a dual-ECU control architecture. This architecture, through a master-slave or redundant collaborative hardware layout, relies on the standardized underlying software (BSW) of the Automotive Open Systems Architecture (AUTOSAR), operating system (OS) synchronous scheduling, and bus synchronous handshake mechanism to achieve strict alignment of the two controllers in terms of startup timing, operating cycle, and control logic. It avoids single-point failure risks through redundancy design and improves computing power and response speed through task sharing. It is widely used in vehicle control systems with extremely high requirements for safety, real-time performance, and collaborative consistency, such as powertrain, chassis braking, steering, and autonomous driving systems.

[0003] On the one hand, ECU systems based on the AUTOSAR CP architecture have become one of the core technology architectures for automotive electronics due to their standardized interfaces and strong portability. On the other hand, by expanding the number of ECUs, control of engines with a large number of cylinders (such as 8-cylinder and 12-cylinder engines) can be achieved, realizing functions such as multi-cylinder fuel injection, ignition, and exhaust.

[0004] Currently, the relevant technologies do not address the timing synchronization issue between dual ECUs. There is a random deviation of 10ms at the start time of the dual ECU's cyclic task, resulting in uncertainty in the execution of tasks during the initialization phase. This leads to problems such as asynchronous data interaction and untimely execution of control commands, causing the torque response accuracy of dual-ECU controlled models to be lower than that of single-ECU controlled models. Summary of the Invention

[0005] The purpose of this invention is to provide a dual-ECU synchronous start control method, a dual-ECU synchronous start control device, an electronic device, a storage medium, and a vehicle, at least solving a technical problem of how to control the timing synchronization between dual ECUs and the problem of untimely data periodic transmission between dual ECUs.

[0006] This invention provides the following solution:

[0007] According to one aspect of the present invention, a dual-ECU synchronous start-up control method is provided, comprising:

[0008] Based on fixed pin levels, identify the master ECU and slave ECU of the dual-engine electronic control unit (ECU);

[0009] In response to the master ECU and the slave ECU satisfying the preset bidirectional hardwired trigger logic, it is determined that the master ECU and the slave ECU have successfully started synchronously;

[0010] The master ECU is controlled to activate the application layer periodic task scheduler, and the master ECU and the slave ECU are determined to start the periodic task synchronously.

[0011] Preferably, the bidirectional hardwired triggering logic includes master ECU synchronous triggering logic and slave ECU synchronous response logic;

[0012] The master ECU synchronous trigger logic and slave ECU synchronous response logic are triggered by hard-wired level start and / or response signals.

[0013] Preferably, the main ECU synchronization triggering logic includes:

[0014] Initialize the fault system of the main ECU and create the main synchronization timer;

[0015] Set the main synchronization pin to a high level, start the main synchronization timer based on the preset main trigger timeout threshold, and simultaneously collect the slave synchronization hardline level in real time;

[0016] In response to the timing of the master synchronization timer being within the master trigger timeout threshold, if the slave synchronization hardline level changes to a high level, it is determined that the master ECU and the slave ECU have successfully started bidirectional synchronously.

[0017] Preferably, the method further includes:

[0018] In response to the timing of the master synchronization timer not being detected as the slave synchronization hardline level changing to a high level within the master trigger timeout threshold, the master ECU is controlled to independently start the periodic task, and the master ECU's private CAN verification is enabled to verify the synchronization start failure of the master ECU and the slave ECU.

[0019] Preferably, the ECU synchronization response logic includes:

[0020] Initialize the fault system of the ECU and create a synchronization timer;

[0021] Based on a preset slave response timeout threshold, the slave synchronization timer is started, and the master synchronization hardline level is collected in real time.

[0022] In response to the timing of the slave synchronization timer being within the slave response timeout threshold, if the master synchronization hardline level is detected to be high, the slave synchronization hardline level is set to high.

[0023] The ECU is controlled to activate the application layer periodic task scheduler, which synchronously starts the periodic task with the main ECU.

[0024] Preferably, the method further includes:

[0025] In response to the timing of the slave synchronization timer being within the slave response timeout threshold, if the master synchronization hardline level is not detected to go high, the slave ECU is controlled to independently start the periodic task, and the slave ECU's private CAN verification is enabled to verify the synchronization startup failure of the master ECU and the slave ECU.

[0026] Preferably, after determining the synchronous start-up cycle task of the master ECU and the slave ECU, the method further includes:

[0027] The master synchronization hardline level and the slave synchronization hardline level are periodically acquired, and the periodic task is synchronized and verified through the CAN bus.

[0028] Preferably, the master trigger timeout threshold and the slave response timeout threshold are determined based on the actual power-on time difference of the two ECUs in the vehicle environment.

[0029] According to a second aspect of the present invention, a dual-ECU synchronous start control device is provided, comprising:

[0030] The ECU identification module is used to identify the master ECU and slave ECU of a dual-engine electronic control unit based on fixed pin levels;

[0031] The dual-ECU synchronous start module is used to determine that the master ECU and the slave ECU have successfully started synchronously in response to the master ECU and the slave ECU meeting the preset bidirectional hardwired trigger logic.

[0032] The periodic task synchronization startup module is used to control the master ECU to activate the application layer periodic task scheduler and determine the synchronous startup of periodic tasks by the master ECU and the slave ECU.

[0033] According to three aspects of the present invention, an electronic device is provided, comprising: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0034] The memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of the dual ECU synchronous start control method.

[0035] According to four aspects of the present invention, a computer-readable storage medium is provided, comprising: storing a computer program executable by an electronic device, wherein when the computer program is run on the electronic device, the electronic device performs the steps of a dual ECU synchronous start control method.

[0036] According to five aspects of the present invention, a vehicle is provided, comprising:

[0037] Electronic equipment, steps for implementing a dual-ECU synchronous start-up control method;

[0038] The processor runs a program, and when the program runs, it executes the steps of the dual ECU synchronous start control method based on the data output from the electronic device.

[0039] The storage medium is used to store the program, which, when running, executes the steps of the dual-ECU synchronous start control method based on data output from the electronic device.

[0040] The above solution achieves the following beneficial technical effects:

[0041] This application identifies the master ECU and slave ECU by fixing the pin level, achieving fast and secure identity recognition during the initial startup phase.

[0042] This application uses bidirectional hardwired triggering logic to determine whether the master ECU and slave ECU have started successfully in sync, forming a bidirectional synchronization confirmation mechanism to achieve hardware-level bidirectional synchronization triggering, ensuring consistent startup timing and high synchronization accuracy.

[0043] This application controls the synchronous start-up of dual ECUs to ensure that the master ECU and slave ECU start the cycle tasks synchronously, thereby ensuring timely and periodic data transmission between ECUs, avoiding problems such as asynchronous data interaction and untimely execution of control commands, ensuring the synchronous and orderly execution of multi-cylinder control tasks, and improving the torque response accuracy of dual-ECU controlled models. Attached Figure Description

[0044] Figure 1 This is a flowchart of a dual-ECU synchronous start-up control method provided by one or more embodiments of the present invention.

[0045] Figure 2 This is a structural diagram of a dual-ECU synchronous start control device provided in one or more embodiments of the present invention.

[0046] Figure 3 This is a block diagram of an electronic device structure for a dual-ECU synchronous start-up control method provided in one or more embodiments of the present invention. Detailed Implementation

[0047] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] It should be understood that the term "and / or" used herein is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship. It should be understood that although the terms "first," "second," "third," etc., may be used in the embodiments of this application, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions.

[0049] Figure 1 This is a flowchart of a dual-ECU synchronous start-up control method provided by one or more embodiments of the present invention.

[0050] like Figure 1 The dual-ECU synchronous start control method shown includes:

[0051] Step S1: Identify the master ECU and slave ECU of the dual ECU based on fixed pin levels.

[0052] This embodiment is based on the AUTOSAR CP system architecture. Both ECUs are powered on simultaneously, triggering a microcontroller unit (MCU) reset and low-level initialization of the basic control software (BSW), such as initializing the clock, pins, and the controller local area network bus interface layer (CANIf). Then, the ECU State Manager (EcuM) is executed to initialize the runtime environment (RTE), followed by the RTE_Start call. After RTE_Start completes, the RTE enters a ready state, allowing the synchronized startup software component (SyncStartSWC) to execute its initialization logic.

[0053] The initialization execution logic of this embodiment follows the AUTOSAR CP standardized startup process, ensuring compatibility with existing vehicle ECU development processes, eliminating the need to reconstruct the underlying architecture, and reducing development difficulty.

[0054] After the RTE is started, the identity of each ECU in the dual ECU is identified by a fixed pin level.

[0055] Furthermore, the synchronous startup software component reads the ECU_ID pin level of the two ECUs respectively through the input / output hardware abstraction (I / O Hardware Abstraction, IoHwAb) driver, and performs ECU identification.

[0056] If a high level is detected on the ECU_ID pin, the ECU corresponding to the ECU_ID with the high level is determined to be the master ECU. The master ECU is then controlled to enter the master ECU startup process.

[0057] If a low level is detected on the ECU_ID pin, the ECU corresponding to the ECU_ID with a low pin level is determined to be a slave ECU. The slave ECU is then controlled to enter the slave ECU startup process.

[0058] This embodiment identifies the master and slave ECUs via the ECU_ID hardware pin, clearly defining system control permissions and preventing actuator drive conflicts caused by simultaneous output of control commands from both ECUs. This ensures the orderly, safe, and reliable operation of the engine control system under a redundant architecture and provides identification criteria for fault redundancy switching. The primary purpose is to control the master ECU to execute preset master ECU synchronous triggering logic and the slave ECU to execute preset slave ECU synchronous response logic, thereby achieving bidirectional hardwired triggering logic between the two ECUs.

[0059] Step S2: In response to the master ECU and slave ECU satisfying the preset bidirectional hardwired trigger logic, it is determined that the master ECU and slave ECU have successfully started synchronously.

[0060] The bidirectional hard-wired triggering logic includes master ECU synchronous triggering logic and slave ECU synchronous response logic. Both the master ECU synchronous triggering logic and the slave ECU synchronous response logic require hard-wired level triggering to achieve bidirectional confirmation between the two ECUs.

[0061] In this embodiment, when the master ECU and slave ECU satisfy the preset bidirectional hardwired trigger logic, it is determined that the master ECU and slave ECU have successfully started synchronously.

[0062] Step S3: Control the main ECU to activate the application layer periodic task scheduler and determine that the main ECU and slave ECU synchronously start the periodic task.

[0063] Once the master ECU and slave ECU have determined the synchronous start-up cycle task, they enter the normal operation phase, continuously monitoring the synchronization status and task execution status, and promptly detecting and recording any abnormalities or faults.

[0064] The dual ECUs are physically isolated, with each ECU having independent power, clock, and I / O channels. Through a specified precise time protocol, cross-data acquisition / voting algorithm, and health monitoring algorithm, data and instructions are kept consistent. Based on this, in this embodiment, the master ECU synchronization triggering logic is as follows:

[0065] The fault system (Dem) of the main ECU is initialized. The operating system creates a main synchronization timer (Alarm) and determines the set main trigger timeout threshold T1. The main trigger timeout threshold is determined based on the actual power-on time difference T0 between the two ECUs in the vehicle environment. If the power-on timing of the main ECU is earlier than the actual power-on time difference of the slave ECU, the main trigger timeout threshold must be greater than the actual power-on time difference, i.e., T1 > T0. A default value for the main trigger timeout threshold can be set according to actual conditions; for example, a default value of 50ms can be set.

[0066] Pull the main synchronization hard line high, and set the main synchronization (SYNC_M) pin to a high level through the IoHwAb drive, so that the start trigger signal can be sent to the slave ECU through the high level of the main synchronization pin. At this time, the main ECU enters the "waiting for response" state.

[0067] If the timing of the master synchronization timer is within the master trigger timeout threshold, and the slave synchronization hardline level changes to a high level, that is, the master trigger timeout threshold timing has not expired, and the slave synchronization (SYNC_S) hardline level changes to a high level, it is determined that the master ECU and slave ECU have successfully started bidirectional synchronization. The master ECU activates the application layer periodic task scheduler and starts the periodic task.

[0068] If the master synchronization timer fails to detect a transition from the synchronization hardline level to a high level within the master trigger timeout threshold (i.e., the master trigger timeout threshold has expired and no transition from the synchronization (SYNC_S) hardline level to a high level has been detected), the master ECU will trigger timeout processing and immediately stop waiting for a response from the slave ECU. The master ECU will then independently start its cycle task, enabling its private CAN verification to check for synchronization failures between the master and slave ECUs. If the master ECU's private CAN verification passes, the fault system will record a "master and slave ECU hardline signals not synchronized" fault; if the master ECU's private CAN verification fails, "master and slave ECUs not synchronized" will be confirmed, the fault will be reported on the bus, and the fault indicator will illuminate.

[0069] In this embodiment, the ECU synchronization response logic is as follows:

[0070] The faulty system of the slave ECU is initialized. The operating system creates a master synchronization timer and determines the set slave response timeout threshold T2. The slave response timeout threshold is determined based on the actual power-on time difference T0 between the two ECUs in the vehicle environment. If the master ECU's power-on timing is earlier than the actual power-on time difference of the slave ECU, then the slave response timeout threshold must be greater than the actual power-on time difference of the slave ECU, i.e., T2 > T0. A default value for the slave response timeout threshold can be set according to actual conditions; for example, a default value of 30ms can be set.

[0071] Determine the preset response timeout threshold, and based on the response timeout threshold, start the slave synchronization timer, while simultaneously acquiring the master synchronization hardline level in real time, and the slave ECU enters the "waiting for trigger" state.

[0072] Furthermore, if the slave ECU detects the master synchronization hardline level going high when the slave synchronization timer's countdown is within the slave response timeout threshold (i.e., the slave response timeout threshold has not expired), it immediately sets the slave synchronization hardline pin high via the IoHwAb driver, sending a response signal back to the master ECU. Once the slave ECU and master ECU have successfully synchronized, the slave ECU immediately activates the application-layer periodic task scheduler and synchronizes with the master ECU to start the periodic task.

[0073] If the slave ECU's synchronization timer times out within the slave response timeout threshold (i.e., the slave response timeout threshold times out) and the master synchronization hardline level does not change to a high level, the slave ECU's wait-to-activate timeout processing is triggered, immediately stopping the wait for the master ECU's start-up trigger signal. The slave ECU is then controlled to independently start its cycle task, enabling its private CAN verification to check for synchronization start-up faults between the master and slave ECUs. If the slave ECU's private CAN verification passes, the fault system records a "master-slave hardline signal not synchronized" fault; if the slave ECU's private CAN verification fails, "master-slave not synchronized" is confirmed, the fault is reported on the bus, and the fault indicator light illuminates.

[0074] In other words, after the dual ECUs are powered on, the controllers of the master ECU and slave ECU independently complete microcontroller initialization, low-level driver initialization, basic software module initialization, and operating system startup. Then, the controller of the master ECU acts as the synchronization master, controlling the master ECU to change the master synchronization hardline level to a high level, sending a start trigger signal to the slave ECU to announce its startup completion and wait for the slave ECU's response. After completing its own basic initialization, the controller of the slave ECU controls the slave ECU to continuously monitor the master synchronization hardline level. Within the set slave response timeout threshold, if it receives a high level from the master synchronization hardline, it immediately sends a response signal back to the master ECU, setting the slave synchronization hardline level to a high level. If the master ECU detects a high level from the slave synchronization hardline within the master trigger timeout threshold, it determines that bidirectional synchronization is successful. The master ECU and slave ECU synchronously release the startup block, simultaneously enter the running state, and start periodic tasks, ultimately achieving strict synchronization of the two controllers in timing, scheduling, and control logic, ensuring the consistency and safety of system control.

[0075] The master ECU timeout handling and slave ECU activation wait timeout handling provided in this embodiment are compatible with AUTOSAR. Based on the AUTOSAR OS Alarm module, a timeout protection strategy is designed to avoid idle waiting blockage, ensure startup timing consistency, and achieve compatibility with the AUTOSAR architecture, ensuring the synchronous and orderly execution of multi-cylinder control tasks.

[0076] Based on the above implementation method, the master synchronization hard line level and slave synchronization hard line level can be periodically collected, and the periodic task can be synchronized and verified through the CAN bus. The synchronization status and the execution status of the periodic task can be continuously monitored, and anomalies can be detected and faults recorded in a timely manner.

[0077] Specifically, based on the periodic monitoring of the master and slave synchronization hardline levels using IoHwAb, continuous monitoring of the hardline status of the master and slave ECUs is achieved. For example, the master and slave synchronization hardline levels are sampled every 10ms to continuously monitor the synchronization status of the master and slave ECUs.

[0078] The system transmits periodic task heartbeat packets via the CAN bus to synchronize and verify the initiation of periodic tasks by the master ECU and slave ECU. The periodic task heartbeat contains periodic task information such as task count and timestamp.

[0079] Taking the master ECU in command execution mode and the slave ECU in monitoring mode as an example, both the master and slave ECUs simultaneously receive all sensor input signals. The master ECU enters normal control mode, unlocks actuator drive permissions, and prepares to output core control commands. The slave ECU enters monitoring synchronization mode, disables actuator drive output, and only executes control logic calculations completely identical to those of the master ECU in parallel. Simultaneously, it receives the master ECU's synchronization signal, calculation results, and operating status in real time via the CAN bus, performing real-time comparison and verification to ensure data and logic synchronization between the two, laying the foundation for the master ECU to output commands normally and for the slave ECU to stand by and take over. By continuously monitoring the synchronization status and periodic task execution status of the master and slave ECUs, bidirectional monitoring via hardwired and bus is achieved, and cross-verification of the periodic task execution status of the master and slave ECUs is realized. If a single ECU malfunctions, the fault system is triggered to record a specific fault code; if both the master and slave ECUs malfunction, the fault system is triggered to record the fault code "xxECU malfunction".

[0080] Figure 2 This is a structural diagram of a dual-ECU synchronous start control device provided in one or more embodiments of the present invention.

[0081] like Figure 2 The dual-ECU synchronous start control device shown includes: an ECU identification module, a dual-ECU synchronous start module, and a periodic task synchronous start module.

[0082] The ECU identification module is used to identify the master ECU and slave ECU of a dual-engine electronic control unit based on fixed pin levels;

[0083] The dual-ECU synchronous start module is used to determine that the master ECU and the slave ECU have successfully started synchronously in response to the master ECU and the slave ECU meeting the preset bidirectional hardwired trigger logic.

[0084] The periodic task synchronization startup module is used to control the master ECU to activate the application layer periodic task scheduler and determine the synchronous startup of periodic tasks by the master ECU and the slave ECU.

[0085] The bidirectional hard-wired triggering logic includes master ECU synchronous triggering logic and slave ECU synchronous response logic; the master ECU synchronous triggering logic and slave ECU synchronous response logic are triggered by hard-wired level triggering of start and / or response signals.

[0086] The dual-ECU synchronous start module is used to initialize the fault system of the master ECU and create a master synchronization timer; set the master synchronization pin to a high level, start the master synchronization timer based on a preset master trigger timeout threshold, and simultaneously collect the slave synchronization hardline level in real time; in response to the timing of the master synchronization timer being within the master trigger timeout threshold, if the slave synchronization hardline level is collected to go high, it is determined that the bidirectional synchronous start of the master ECU and the slave ECU is successful.

[0087] The dual-ECU synchronous start module is used to respond to the main synchronization timer not detecting the slave synchronization hardline level changing to a high level within the main trigger timeout threshold, control the main ECU to independently start the periodic task, enable the main ECU's private CAN verification, and verify the synchronous start failure of the main ECU and the slave ECU.

[0088] The dual-ECU synchronous start module is used to initialize the fault system of the slave ECU and create a slave synchronization timer; based on a preset slave response timeout threshold, it starts the slave synchronization timer and simultaneously acquires the master synchronization hardline level in real time; in response to the slave synchronization timer timing being within the slave response timeout threshold, if the master synchronization hardline level is acquired to become high, the slave synchronization hardline level is set to high; and the slave ECU is controlled to activate the application layer periodic task scheduler to start the periodic task synchronously with the master ECU.

[0089] The dual-ECU synchronous start module is used to respond to the slave synchronization timer not detecting the master synchronization hard line level turning high within the slave response timeout threshold, control the slave ECU to independently start the periodic task, enable the slave ECU's private CAN verification, and verify the synchronous start failure of the master ECU and slave ECU.

[0090] The periodic task synchronization startup module is used to periodically collect the master synchronization hard line level and the slave synchronization hard line level, and to perform synchronization verification of the periodic task through the CAN bus.

[0091] In this embodiment, the master trigger timeout threshold and the slave response timeout threshold are determined based on the actual power-on time difference of the two ECUs in the vehicle environment.

[0092] Figure 3 This is a block diagram of an electronic device structure for a dual-ECU synchronous start-up control method provided in one or more embodiments of the present invention.

[0093] like Figure 3 As shown, this application provides an electronic device, including: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0094] The memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of a dual ECU synchronous start-up control method.

[0095] This application also provides a computer-readable storage medium storing a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of a dual-ECU synchronous start-up control method.

[0096] This application also provides a vehicle, including:

[0097] Electronic equipment for implementing the steps of a dual-ECU synchronous start-up control method;

[0098] The processor runs a program, and when the program runs, it executes the steps of the dual ECU synchronous start control method based on the data output from the electronic device.

[0099] The storage medium is used to store the program, which, when running, executes the steps of the dual-ECU synchronous start control method based on data output from the electronic device.

[0100] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0101] The electronic device comprises a hardware layer, an operating system layer running on top of the hardware layer, and an application layer running on the operating system. The hardware layer includes hardware such as a central processing unit (CPU), a memory management unit (MMU), and memory. The operating system can be any one or more computer operating systems that control the electronic device through processes, such as Linux, Unix, Android, iOS, or Windows. Furthermore, in this embodiment of the invention, the electronic device can be a smartphone, tablet computer, or other handheld device, or a desktop computer, portable computer, or other electronic device; there is no particular limitation in this embodiment.

[0102] In this embodiment of the invention, the executing entity for electronic device control can be an electronic device itself, or a functional module within an electronic device capable of calling and executing a program. The electronic device can obtain the firmware corresponding to the storage medium. This firmware is provided by the supplier, and different storage media may have the same or different firmware; no limitation is made here. After obtaining the firmware corresponding to the storage medium, the electronic device can write this firmware into the storage medium; specifically, it burns the firmware corresponding to the storage medium into the storage medium. The process of burning the firmware into the storage medium can be implemented using existing technology, and will not be elaborated upon in this embodiment of the invention.

[0103] Electronic devices can also obtain reset commands corresponding to the storage media. The reset commands corresponding to the storage media are provided by the supplier. The reset commands corresponding to different storage media can be the same or different, and no restrictions are imposed here.

[0104] At this time, the storage medium of the electronic device is a storage medium on which the corresponding firmware has been written. The electronic device can respond to the reset command corresponding to the storage medium on which the corresponding firmware has been written, thereby resetting the storage medium on which the corresponding firmware has been written according to the reset command. The process of resetting the storage medium according to the reset command can be implemented by existing technology and will not be described in detail in this embodiment of the invention.

[0105] For ease of description, the above devices are described separately by function as various units and modules. Of course, in implementing this application, the functions of each unit and module can be implemented in one or more software and / or hardware.

[0106] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the meaning consistent with their meaning in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined.

[0107] For the sake of simplicity, the method embodiments are described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0108] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0109] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention 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 or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A dual-ECU synchronous start-up control method, characterized in that, The dual-ECU synchronous start-up control method includes: Based on fixed pin levels, identify the master ECU and slave ECU of the dual-engine electronic control unit (ECU); In response to the master ECU and the slave ECU satisfying the preset bidirectional hardwired trigger logic, it is determined that the master ECU and the slave ECU have successfully started synchronously; The master ECU is controlled to activate the application layer periodic task scheduler, and the master ECU and the slave ECU are determined to start the periodic task synchronously.

2. The dual-ECU synchronous start control method according to claim 1, characterized in that, The bidirectional hardwired triggering logic includes master ECU synchronous triggering logic and slave ECU synchronous response logic; The master ECU synchronous trigger logic and slave ECU synchronous response logic are triggered by hard-wired level start and / or response signals.

3. The dual-ECU synchronous start control method according to claim 2, characterized in that, The main ECU synchronization trigger logic includes: Initialize the fault system of the main ECU and create the main synchronization timer; Set the main synchronization pin to a high level, start the main synchronization timer based on the preset main trigger timeout threshold, and simultaneously collect the slave synchronization hardline level in real time; In response to the timing of the master synchronization timer being within the master trigger timeout threshold, if the slave synchronization hardline level changes to a high level, it is determined that the master ECU and the slave ECU have successfully started bidirectional synchronously.

4. The dual-ECU synchronous start control method according to claim 3, characterized in that, The method further includes: In response to the timing of the master synchronization timer not being detected as the slave synchronization hardline level changing to a high level within the master trigger timeout threshold, the master ECU is controlled to independently start the periodic task, and the master ECU's private CAN verification is enabled to verify the synchronization start failure of the master ECU and the slave ECU.

5. The dual-ECU synchronous start control method according to claim 3, characterized in that, The ECU synchronization response logic includes: Initialize the fault system of the ECU and create a synchronization timer; Based on a preset slave response timeout threshold, the slave synchronization timer is started, and the master synchronization hardline level is collected in real time. In response to the timing of the slave synchronization timer being within the slave response timeout threshold, if the master synchronization hardline level is detected to be high, the slave synchronization hardline level is set to high. The ECU is controlled to activate the application layer periodic task scheduler, which synchronously starts the periodic task with the main ECU.

6. The dual-ECU synchronous start control method according to claim 5, characterized in that, The method further includes: In response to the timing of the slave synchronization timer being within the slave response timeout threshold, if the master synchronization hardline level is not detected to go high, the slave ECU is controlled to independently start the periodic task, and the slave ECU's private CAN verification is enabled to verify the synchronization startup failure of the master ECU and the slave ECU.

7. The dual-ECU synchronous start control method according to claim 5, characterized in that, After determining the synchronous start-up cycle task of the master ECU and the slave ECU, the method further includes: The master synchronization hardline level and the slave synchronization hardline level are periodically acquired, and the periodic task is synchronized and verified through the CAN bus.

8. The dual-ECU synchronous start control method according to claim 5, characterized in that, The master trigger timeout threshold and the slave response timeout threshold are determined based on the actual power-on time difference between the two ECUs in the vehicle environment.

9. A dual-ECU synchronous start control device, characterized in that, The dual-ECU synchronous start control device includes: The ECU identification module is used to identify the master ECU and slave ECU of a dual-engine electronic control unit based on fixed pin levels; The dual-ECU synchronous start module is used to determine that the master ECU and the slave ECU have successfully started synchronously in response to the master ECU and the slave ECU meeting the preset bidirectional hardwired trigger logic. The periodic task synchronization startup module is used to control the master ECU to activate the application layer periodic task scheduler and determine the synchronous startup of periodic tasks by the master ECU and the slave ECU.

10. A vehicle, characterized in that, include: An electronic device for implementing the steps of the dual ECU synchronous start control method as described in any one of claims 1 to 8; A processor that runs a program, and when the program runs, it executes the steps of the dual ECU synchronous start control method as described in any one of claims 1 to 8 from data output by the electronic device. A storage medium for storing a program that, when running, executes the steps of the dual ECU synchronous start control method as described in any one of claims 1 to 8 on data output from an electronic device.

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