A vehicle control method, vehicle, device and storage medium

Abstract

The application provides a vehicle control method, a vehicle, a device and a storage medium. The method comprises the following steps: obtaining a direct acquisition switch state and an indirect acquisition switch state of a target component of a vehicle; determining an arbitration switch state of the target component according to the direct acquisition switch state, the indirect acquisition switch state and a preset arbitration logic, wherein the preset arbitration logic comprises a logical OR operation; and controlling the target component according to the arbitration switch state. The arbitration switch state of the target component is determined according to the direct acquisition switch state, the indirect acquisition switch state and the preset arbitration logic, and the target component is controlled according to the arbitration switch state. When the two acquisition switch states are inconsistent, the target component can be controlled based on the unique switch state determined according to the preset arbitration logic, so that the problems of misoperation, response delay or function failure of the component caused by inconsistent switch states can be basically avoided, and the reliability of the control of the target component is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, specifically to a vehicle control method, vehicle, device, and storage medium. Background Technology

[0002] As the level of intelligence and connectivity in automobiles continues to increase, automotive electronic and electrical architecture is evolving towards a regional architecture. In a regional architecture, the vehicle is divided into multiple regions by physical space or functional logic, and functions that were originally integrated into a single body control module are split into different regional controllers.

[0003] The area controller undertakes some of the functions of the vehicle control module, responsible for controlling various components such as lights and door locks within its area. In this architecture, the on / off status of components is typically acquired using two methods: direct acquisition and indirect acquisition. Specifically, direct acquisition means the area controller directly connects to and acquires the on / off status of components via hardwired connections; indirect acquisition means the on / off status of components is acquired through a switch control unit independent of the area controller and then forwarded to the corresponding area controller.

[0004] However, due to differences in acquisition circuits and communication delays, inconsistencies may occur in the acquisition of two switch states. This makes it difficult for the area controller to determine which switch state to control the component, which may lead to problems such as component misoperation, response delay, or functional failure, affecting vehicle safety and user experience.

[0005] It should be noted that the information disclosed in the background section of this application is intended only to enhance the understanding of the general background of this application, and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0006] This application provides a vehicle control method, vehicle, device, and storage medium to address the problem in the related art where inconsistent acquisition of the switching states of vehicle components makes it difficult for the area controller to determine which switching state to control the components, which may lead to component malfunctions, response delays, or functional failures.

[0007] In a first aspect, embodiments of this application provide a vehicle control method applied to an area controller, the method comprising: Acquire the direct and indirect acquisition switch states of the target components of the vehicle; The arbitration switch state of the target component is determined based on the direct acquisition switch state, the indirect acquisition switch state, and the preset arbitration logic, wherein the preset arbitration logic includes a logical OR operation. The target component is controlled according to the state of the arbitration switch.

[0008] In this embodiment, the arbitration switch state of the target component is determined based on the directly acquired switch state, the indirectly acquired switch state, and a preset arbitration logic, and the target component is controlled according to the arbitration switch state. When the switch states acquired by the two channels are inconsistent, a unique switch state can be determined based on the preset arbitration logic to control the target component. This can largely avoid problems such as component misoperation, response delay, or functional failure caused by inconsistent switch states, thereby improving the reliability of target component control.

[0009] In one possible implementation, determining the arbitration switch state of the target component based on the direct acquisition switch state, the indirect acquisition switch state, and preset arbitration logic includes: Based on the acquisition timestamp of the indirect acquisition switch status and the continuity of the acquired data, determine whether the indirect acquisition switch status is reliable; If the indirect acquisition switch state is unreliable, then the direct acquisition switch state is determined to be the arbitration switch state; If the indirect acquisition switch state is reliable, then the arbitration switch state of the target component is determined based on the direct acquisition switch state, the indirect acquisition switch state, and the preset arbitration logic.

[0010] In this embodiment of the application, by first determining whether the indirectly acquired switch state is reliable, and then executing a differentiated arbitration switch state determination strategy based on the determination result, the scenario adaptability, reliability and robustness of the arbitration switch state determination are improved.

[0011] In one possible implementation, the preset arbitration logic also includes a logical AND operation.

[0012] In this embodiment, the preset arbitration logic employs a logical AND operation. When one switch state becomes incorrectly open due to interference or false triggering, it can be constrained by another normal closed state signal to determine that the arbitration switch state is closed. This effectively shields false action commands caused by false triggering or interference, prevents the target component from being falsely triggered, and significantly improves the safety of vehicle control.

[0013] One possible implementation also includes: Receive control requests from other controllers for the target component; The validity of the control request is determined based on the first and second request states of the control requests made by the other controllers to the target component; the first request state is used to characterize whether a control request exists, and the second request state is used to characterize whether the control request is credible. When the control request is valid, the target component is controlled according to the arbitration switch state and the content of the control request, wherein the content of the control request includes the switch state control operation of the target component.

[0014] In this embodiment of the application, by validating the control request, the miscontrol of the target component caused by CAN message injection attacks, communication errors, or abnormal sending of incorrect requests by the vehicle controller can be largely avoided, thereby improving the safety of vehicle control.

[0015] In one possible implementation, when the control request is valid, controlling the target component based on the arbitration switch state and the content of the control request includes: When the control request is valid, if the state of the arbitration switch changes, the target component is controlled according to the changed state of the arbitration switch. If the state of the arbitration switch does not change, the target component is controlled according to the content of the control request.

[0016] In this embodiment of the application, by controlling the target component according to the changed arbitration switch state when the arbitration switch state changes, a higher priority can be given to the change of local physical switch state, eliminating cross-domain control conflicts, satisfying the functional safety principle of driver operation priority, and improving the safety of vehicle control.

[0017] In one possible implementation, after controlling the target component based on the arbitration switch state and the control request content, the method further includes: If the control request becomes invalid, the target component is controlled according to the arbitration switch state of the target component before the control request was received.

[0018] In this embodiment of the application, through the above-mentioned state recovery mechanism, the system can automatically restore to the initial state before intervention after other controllers have finished controlling or abnormally interrupted, thus avoiding the component switch state jump caused by the exit of external control and improving the continuity of user experience.

[0019] One possible implementation also includes: If, within a preset time interval, the change in the arbitration switch state of the target component satisfies the first preset condition, and the vehicle's motion state satisfies the second preset condition, then the vehicle will be switched to a preset control mode.

[0020] In this embodiment, by switching modes according to the arbitration switch state of the target component, the mode switching can be completed without relying on dedicated diagnostic equipment, thereby improving the scenario adaptability of mode switching.

[0021] Secondly, embodiments of this application provide a vehicle, including: a region controller, the region controller being configured to perform the method described in any one of the first aspects.

[0022] Thirdly, embodiments of this application provide a vehicle control device, including: The switch status acquisition module is used to acquire the direct and indirect switch status of the target components of the vehicle. The arbitration module is used to determine the arbitration switch state of the target component based on the direct acquisition switch state, the indirect acquisition switch state, and the preset arbitration logic, wherein the preset arbitration logic includes a logical OR operation. The component control module is used to control the target component according to the arbitration switch state.

[0023] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in any one of the first aspects. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments 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.

[0025] Figure 1 This is a schematic diagram of an application scenario provided by an embodiment of this application; Figure 2 This is a schematic flowchart of a vehicle control method provided in an embodiment of this application; Figure 3 A schematic flowchart illustrating a method for determining the state of an arbitration switch, provided in an embodiment of this application; Figure 4 This is a schematic flowchart of a collaborative control method provided in an embodiment of this application; Figure 5 This is a schematic diagram of another collaborative control method provided in an embodiment of this application; Figure 6 This is a schematic diagram of a vehicle control device provided in an embodiment of this application; Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0026] To better understand the technical solution of this application, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0027] It should be understood that the described embodiments are merely some, not all, of the embodiments in this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0028] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0029] It should be understood that the term "and / or" used in this article 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 article generally indicates that the preceding and following related objects have an "or" relationship.

[0030] See Figure 1 This is a schematic diagram illustrating an application scenario provided by an embodiment of this application. For example... Figure 1 As shown, the application scenario includes a vehicle 100, which includes a target component 101, a switch control unit 102, and a zone controller 103.

[0031] Specifically, the area controller 103 is used to control the target component 101 according to the on / off state of the target component 101.

[0032] In practical applications, the area controller 103 acquires the switching status of the target component in two ways. First, it directly acquires the switching status of the target component 101 via hardwire; second, it acquires the switching status of the target component 101 through the target component's switching control unit 102 and forwards it to the area controller 103.

[0033] In practical applications, vehicle 100 includes, but is not limited to, traditional fuel vehicles and new energy vehicles. Target components 101 include, but are not limited to, lighting components (such as high beam headlights, low beam headlights, position lights, warning lights, etc.), door lock components, and rearview mirror components.

[0034] However, due to differences in acquisition circuits and communication delays, inconsistencies may occur in the acquisition of two switch states. This makes it difficult for the area controller to determine which switch state to control the component, which may lead to problems such as component misoperation, response delay, or functional failure, affecting vehicle safety and user experience.

[0035] To address the aforementioned issues, this application provides a vehicle control method applied to a zone controller. By directly acquiring switch states, indirectly acquiring switch states, and using preset arbitration logic, the arbitration switch state of a target component is determined, and the target component is controlled based on this arbitration switch state. When the switch states acquired from two sources are inconsistent, a unique switch state can be determined based on the preset arbitration logic to control the target component. This largely avoids problems such as component malfunction, response delay, or functional failure caused by inconsistent switch states, thus improving the reliability of target component control.

[0036] Specifically, the following detailed description is provided in conjunction with the accompanying drawings and specific embodiments.

[0037] See Figure 2 This is a schematic flowchart of a vehicle control method provided in an embodiment of this application. This method can be applied to a zone controller. Figure 2 The method shown specifically includes the following steps.

[0038] Step S201: Obtain the direct acquisition switch status and indirect acquisition switch status of the target component of the vehicle.

[0039] The target components of the vehicle include, but are not limited to, lighting components (such as high beam headlights, low beam headlights, position lights, warning lights, etc.), door lock components (such as front left door lock, front right door lock, rear left door lock, rear right door lock, tailgate lock, etc.), and rearview mirror components.

[0040] Specifically, direct acquisition of switch status refers to the switch status of the target component acquired by the Zone Control Unit (ZCU) hardware, while indirect acquisition of switch status refers to the switch status acquired by the Switch Control Unit (SCU) of the target component and forwarded to the Zone Control Unit.

[0041] It is understandable that switch states typically include an on state (i.e., conducting state) and an off state (i.e., disconnected state). In practical applications, switch states are usually represented in the form of switch signals. For example, a switch signal value of 1 represents an on state, and a switch signal value of 0 represents an off state.

[0042] For example, the area controller can directly collect the on / off status of components such as the automatic headlight switch, position light switch, and low beam switch via a hardwired interface. Simultaneously, the switch control unit can collect the status of these switches, encapsulate it into a Controller Area Network (CAN) message (e.g., message identifier ID0x23C), and send it to the area controller at fixed intervals.

[0043] In practical applications, the switch control unit can also collect the status of other switches (other switch statuses that the area controller will not directly collect), such as the status of other function switches like turn signal switches, and send them to the area controller. This application embodiment does not limit this.

[0044] Of course, those skilled in the art can adjust the above-mentioned methods of directly acquiring switch status and indirectly acquiring switch status according to actual needs, and the embodiments of this application do not impose specific limitations on this.

[0045] Step S202: Determine the arbitration switch state of the target component based on the directly acquired switch state, the indirectly acquired switch state, and the preset arbitration logic.

[0046] The preset arbitration logic refers to the rules pre-configured in the area controller for arbitrating the states of multiple acquisition switches. It is understandable that direct acquisition paths and indirect acquisition paths differ in hardware circuitry, processing delays, etc., and inconsistencies may arise between the states of directly acquired and indirectly acquired switches. Therefore, by introducing preset arbitration logic, the area controller can arbitrate the states of two switches to determine a unique arbitration switch state, which serves as the basis for subsequent control of target components.

[0047] In the embodiments of this application, the preset arbitration logic includes a logical OR operation, that is, if either the directly acquired switch state or the indirectly acquired switch state is in the open state, then the arbitration switch state is determined to be in the open state; if both the directly acquired switch state and the indirectly acquired switch state are in the closed state, then the arbitration switch state is in the closed state.

[0048] For example, assuming the switch state is directly acquired as closed and indirectly acquired as open, then after a logical OR operation, the arbitrated switch state is open.

[0049] Understandably, the default arbitration logic uses a logical OR operation to ensure that the target component can still respond to user operations when a single signal is abnormal, thus avoiding functional failure due to a single point of failure and improving the reliability of vehicle control.

[0050] In one possible implementation, to improve the reliability of the arbitration switch state, the preset arbitration logic also includes a logical AND operation.

[0051] In other words, the arbitration switch is in the open state only when both the direct acquisition switch state and the indirect acquisition switch state are in the open state. If any of the above switch states is in the closed state, then the arbitration switch is in the closed state.

[0052] Understandably, the preset arbitration logic uses a logical AND operation. When one switch state becomes incorrectly open due to interference or mis-triggering, it can be constrained by another normal closed state signal to determine that the arbitration switch state is closed. This effectively shields false action commands caused by mis-triggering or interference, prevents the target component from being mis-triggered, and significantly improves the safety of vehicle control.

[0053] In practical applications, the selection of preset arbitration logic is usually determined based on the safety requirements of the target component. For components with high safety requirements, such as brake lights, a logical AND operation can be used; while for components with lower safety requirements, a logical OR operation can be used.

[0054] Of course, those skilled in the art can adjust the above-mentioned preset arbitration logic according to actual needs, such as setting the switching state priority of different target components and determining which switching state to select based on the priority. This application embodiment does not impose specific restrictions on this.

[0055] Step S203: Control the target component according to the state of the arbitration switch.

[0056] The unique arbitration switch state determined by the above steps can be understood as a logical variable (the logical value of the open state is 1, and the logical value of the closed state is 0) that has been confirmed by arbitration and is used to characterize the physical switch state of the target component.

[0057] In practical applications, the state of the arbitration switch can be converted into specific drive commands or control signals to drive the target component to perform corresponding actions.

[0058] For example, assuming the target component is the low beam headlight, the driver starts the vehicle and manually turns on the low beam headlight. The area controller obtains the directly acquired switch status as "on" and receives the switch status forwarded by the switch control unit as "off". At this time, through logical OR operation, it can be determined that the arbitration switch status is "on", that is, the low beam headlight is controlled to turn on.

[0059] In this embodiment, the arbitration switch state of the target component is determined based on the directly acquired switch state, the indirectly acquired switch state, and a preset arbitration logic, and the target component is controlled according to the arbitration switch state. When the switch states acquired by the two channels are inconsistent, a unique switch state can be determined based on the preset arbitration logic to control the target component. This largely avoids problems such as component misoperation, response delay, or functional failure caused by inconsistent switch states, thus improving the reliability of target component control.

[0060] In practical applications, in order to improve the scenario adaptability and response speed of arbitration switch status determination, it is also possible to first determine whether the indirectly acquired switch status is reliable, and then determine a differentiated determination strategy based on the determination result.

[0061] See Figure 3 This is a schematic flowchart illustrating a method for determining the state of an arbitration switch according to an embodiment of this application. Figure 3 As shown, the method specifically includes the following steps.

[0062] Step S301: Determine whether the status of the indirect acquisition switch is reliable based on the acquisition timestamp and the continuity of the acquired data.

[0063] The acquisition timestamp refers to the moment when the switch status is indirectly acquired by the switch control unit or forwarded to the area controller. The continuity of the acquired data indicates whether packet loss, transmission errors, or other issues have occurred during the acquisition of the switch status.

[0064] In practical applications, when the area controller receives the indirectly acquired switch status forwarded by the switch control unit, it can simultaneously obtain the acquisition timestamp and data packet sequence information corresponding to that status.

[0065] In this embodiment of the application, if the difference between the timestamp of the indirectly acquired switch status and the current time is greater than the first preset delay time threshold, or if the continuity of the data acquired by the switch control unit does not meet the preset rules (such as packet loss, transmission error, out-of-order or jump), then it can be determined that the indirectly acquired switch status is unreliable.

[0066] In practical applications, the area controller can monitor whether it correctly receives CAN messages sent by the switch control unit within (for example, 3 times the CAN message transmission cycle). If the CAN message is not correctly received within the second preset delay time threshold, it can be determined that there is a transmission error or packet loss in the current link. At this time, it can be determined that the data continuity does not meet the preset rules, and the indirect acquisition of switch status is unreliable.

[0067] In addition, the area controller can also perform integrity checks on the received message data. If a jump or out-of-order error is detected in the rolling counter of the message data frame carrying the indirect acquisition switch status, or if there is an error in the check field (such as the CRC check bit), it can also be determined that the data continuity does not meet the preset rules, and the indirect acquisition switch status is unreliable.

[0068] For example, the area controller can continuously monitor the heartbeat signal of CAN messages sent by the switch control unit. Specifically, the heartbeat signal can be a periodic CAN message carrying indirect acquisition of switch status. If the difference between the timestamp of the message and the current time (e.g., 1 second) is greater than a first preset delay time threshold (e.g., 500 ms), the message can be determined to be a delayed message, and the indirect acquisition of switch status can be determined to be unreliable.

[0069] Meanwhile, if the area controller fails to correctly receive the CAN message sent by the switch control unit within the second preset delay time threshold (e.g., 3 times the CAN message transmission period, 300ms), it can be determined that the current link transmission is faulty or packet loss has occurred, and the indirect acquisition of switch status is unreliable.

[0070] Of course, those skilled in the art can adjust the method for determining whether the status of the indirect acquisition switch is reliable according to actual needs, and the embodiments of this application do not impose specific limitations on this.

[0071] Step S302: If the indirectly acquired switch status is unreliable, then the directly acquired switch status will be determined as the arbitration switch status.

[0072] In this embodiment of the application, if the indirect acquisition switch status is determined to be unreliable in the above steps, the area controller can execute a degraded control strategy in order to ensure the availability of vehicle control.

[0073] Specifically, the area controller can ignore abnormal indirect acquisition switch states. When determining the arbitration switch state, it no longer needs to consider the indirect acquisition switch state; instead, it can directly determine the direct acquisition switch state as the arbitration switch state. This avoids unnecessary arbitration and improves the response speed of arbitration switch state determination.

[0074] Step S303: If the indirectly acquired switch status is reliable, then determine the arbitration switch status of the target component based on the directly acquired switch status, the indirectly acquired switch status, and the preset arbitration logic.

[0075] In this embodiment of the application, if the indirectly acquired switch status is reliable, it means that the determination of the arbitration switch status also needs to take into account the indirectly acquired switch status.

[0076] For an explanation of step S303, please refer to step S202 above. For the sake of brevity, this embodiment will not repeat the details.

[0077] The following explanation will be elaborated with specific examples.

[0078] Assuming the target component is the low beam headlight, and the driver turns it off, but the switch control unit experiences an abnormal power outage, leading to abnormal message data transmission. If the area controller fails to correctly receive the CAN message from the switch control unit within three CAN message transmission cycles, it determines that the current link transmission is faulty or packet loss has occurred, and therefore determines that indirect acquisition of the switch status is unreliable. In this case, the arbitrated switch status is directly determined as the directly acquired switch status.

[0079] In this embodiment of the application, by first determining whether the indirectly acquired switch state is reliable, and then executing a differentiated arbitration switch state determination strategy based on the determination result, the scenario adaptability, reliability and robustness of the arbitration switch state determination are improved.

[0080] In practical applications, the area controller will also receive control requests from other controllers (such as the autonomous driving controller) for the target components, thus requiring coordinated control.

[0081] See Figure 4 This is a schematic flowchart of a collaborative control method provided in an embodiment of this application. Figure 4 As shown, the method specifically includes the following steps.

[0082] Step S401: Receive control requests from other controllers for the target component.

[0083] The other controllers mentioned here can refer to controllers that have the authority or need to control the target components. For example, the other controllers may include Advanced Driver Assistance Systems (ADAS) controllers, smart cockpit controllers, etc.

[0084] In practical applications, the area controller can receive control request messages from other controllers (such as message 0x329 requesting control of high beams, message 0x225 requesting control of hazard lights, message 0x335 requesting control of brake lights, etc.) via vehicle communication buses (such as CAN bus or Ethernet). In the embodiments of this application, the above-mentioned control request messages may include control request content and verification signals.

[0085] Step S402: Determine the validity of the control request based on the first and second request states of the control requests from other controllers to the target component.

[0086] The first request status indicates whether a control request exists, i.e., whether other controllers have actually initiated control over the target component. The second request status indicates whether the control request is trustworthy, i.e., whether the control request has been interfered with or has encountered errors during transmission.

[0087] In this embodiment of the application, if the first request status is present and the second request status is trusted, the control request can be determined to be valid; otherwise, the control request is determined to be invalid.

[0088] In practical applications, the verification signals in the control request messages sent by other controllers can be parsed to obtain the first request status and the second request status.

[0089] For example, a control request signal can be used to characterize a first request state. When the value of the control request signal is 0, it indicates that no request exists; when the value of the control request signal is 1, it indicates that a request exists. A control request validity signal can be used to characterize a second request state. When the value of the control request validity signal is 0, it indicates that the request is untrusted; when the value of the control request validity signal is 1, it indicates that the request is trustworthy.

[0090] In practical applications, the area controller can comprehensively judge the values ​​of these two signals. Only when the control request signal is 1 (request exists) and the control request validity signal is 1 (credible) will the area controller determine that the control request is valid and accept control from other controllers. If the value of either signal is not 1, the area controller can determine that the control request is invalid and ignore the request.

[0091] Step S403: When the control request is valid, control the target component according to the arbitration switch status and the content of the control request.

[0092] The control request includes operations to control the on / off state of the target component, such as turning the target component on or off.

[0093] Specifically, the area controller can coordinate the arbitration switch status with the control request content. For example, if the arbitration switch status and the control operation indicated by the control request content are consistent (e.g., both are on or both are off), the area controller can generate a corresponding control command to control the target component to perform the corresponding switching operation.

[0094] In this embodiment of the application, by validating the control request, the miscontrol of the target component caused by CAN message injection attacks, communication errors, or abnormal sending of incorrect requests by the vehicle controller can be largely avoided, thereby improving the safety of vehicle control.

[0095] See Figure 5 This is a schematic diagram of another collaborative control method provided in an embodiment of this application. Figure 5 As shown, in Figure 4 Based on the illustrated embodiment, step S403 specifically includes the following steps.

[0096] Step S501: When the control request is valid, if the state of the arbitration switch changes, the target component is controlled according to the changed state of the arbitration switch.

[0097] Understandably, a control request effectively indicates that another controller is controlling the target component.

[0098] If the arbitration switch state changes, it indicates that the local physical switch state of the target component has changed, meaning the driver has manually operated the target component (e.g., the driver manually operates the light lever). In this case, to ensure the driver's operation has the highest priority and prevent control conflicts, the area controller can respond to the operation first and control the target component according to the changed arbitration switch state.

[0099] Furthermore, control requests from other controllers can be invalidated directly, i.e., the control of the target component by other controllers can be disconnected.

[0100] For example, the corresponding local physical switch status is continuously monitored during ADAS controller operation. When a change in the local switch status is detected (such as the driver manually operating the light lever), ADAS control is immediately exited, and the local physical switch logic is restored.

[0101] Furthermore, different priorities can be set for control requests of the same target component, such as ADAS high-frequency double flash request having higher priority than ADAS normal double flash request.

[0102] To ensure the real-time nature of the control response, the detection window for changes in the arbitration switch state of the area controller can be set to be less than or equal to a preset duration (e.g., 20ms) to ensure timely response to the driver's actions.

[0103] Step S502: If the state of the arbitration switch does not change, control the target component according to the content of the control request.

[0104] In this embodiment, if the arbitration switch state remains unchanged, it indicates that there is currently no active intervention from the driver. In this case, the area controller can control the target component solely based on the received control request.

[0105] Of course, those skilled in the art can adjust the above control method according to actual needs, and the embodiments of this application do not impose specific limitations on this.

[0106] In this embodiment of the application, by controlling the target component according to the changed arbitration switch state when the arbitration switch state changes, a higher priority can be given to the change of local physical switch state, eliminating cross-domain control conflicts, satisfying the functional safety principle of driver operation priority, and improving the safety of vehicle control.

[0107] In practical applications, when the target component is controlled by other controllers or the control is disconnected, in order to reduce the abruptness of control mode switching, one possible implementation includes, after controlling the target component according to the arbitration switch state and the control request content, the following: If the control request becomes invalid, then control is applied to the target component based on the arbitration switch state of the target component before the control request was received.

[0108] Specifically, when a valid control request is received, the area controller can record or cache the current arbitration switch state. If the control request is subsequently detected to be invalid (e.g., communication timeout, request revocation, or verification error), the area controller can read the recorded state and control the target component to restore it to the switch state before the control request was received.

[0109] For example, the area controller can record the current local switch state (such as the position light being on or the low beam headlight being on) before accepting a control request from the ADAS controller. When ADAS control is exited, the area controller can automatically restore to the recorded switch state before receiving control from the ADAS controller, thereby achieving a seamless switchover of control and improving the user experience.

[0110] In this embodiment of the application, through the above-mentioned state recovery mechanism, the system can automatically restore to the initial state before intervention after other controllers have finished controlling or abnormally interrupted, thus avoiding the component switch state jump caused by the exit of external control and improving the continuity of user experience.

[0111] Furthermore, the aforementioned state restoration can be extended to control scenarios for all components of the vehicle. Specifically, before receiving control requests from other controllers, the area controller can take a snapshot of the current state of each component in the vehicle to save the original state data of each component before the transfer of control. When control from other controllers exits, the area controller can use the snapshot of the vehicle component's state to restore each component to its state before receiving control from other controllers. In this way, seamless control switching and state restoration at the vehicle level can be achieved.

[0112] In one possible implementation, if the arbitration switch state change of the target component meets the first preset condition and the motion state of the vehicle meets the second preset condition within a preset time interval, then the vehicle is switched to a preset control mode.

[0113] Specifically, preset control modes may include vehicle operation modes such as factory mode, user mode, showroom mode, and maintenance mode. The target component can be one or multiple.

[0114] In this embodiment, the change in the arbitration switch state of the target component can be characterized by the number of changes. That is, if the number of changes in the arbitration switch state of the target component reaches a preset threshold (e.g., the driver operates the light lever three times in a short period of time), then the first preset condition is determined to be met.

[0115] For example, if the number of times the hazard alarm light switch is operated and the number of times the position light switch is operated both reach a preset threshold (e.g., 2 times each) within a preset time interval (e.g., 5 seconds), it means that the arbitration switch state change of the target components (hazard alarm light and position light) meets the first preset condition.

[0116] In the second preset condition, the vehicle's motion state can be vehicle speed, vehicle gear, and braking status, etc. For example, if the vehicle is in the ON position, the vehicle speed is less than a preset speed threshold (e.g., 2 km / h), and the brakes are in an effective state, then the second preset condition is determined to be met.

[0117] When both of the above conditions are met simultaneously, the area controller can control the vehicle to switch to a preset control mode (e.g., by sending a mode switching request signal to the vehicle controller). Furthermore, if the above conditions are met multiple times, the system can cycle through multiple preset control modes.

[0118] During mode switching, the area controller can send a mode switching request signal to the vehicle controller and monitor the feedback signal. If feedback is received within a first preset time (e.g., 1 second) and continuous confirmation is completed within a second preset time (e.g., 3 seconds), the instrument panel can be notified to display a successful switch; if the timeout occurs or no confirmation signal is received, the instrument panel can be notified to display a failed switch.

[0119] It should be noted that the first preset condition mentioned above is not limited to the light switch, and can also be replaced with other switch combinations such as steering wheel buttons to adapt to different vehicle configurations.

[0120] Of course, those skilled in the art can adjust the first and second preset conditions as needed, and the embodiments of this application do not impose specific restrictions on this.

[0121] In this embodiment, by switching modes according to the arbitration switch state of the target component, the mode switching can be completed without relying on dedicated diagnostic equipment, which improves the scenario adaptability of mode switching (adapting to the entire life cycle scenario of the vehicle from production to after-sales) and enhances the user's ease of operation.

[0122] Furthermore, the area controller can also receive diagnostic configuration commands (such as the 2E command in the UDS protocol combined with DID 0xA040) through the diagnostic interface to realize the writing and switching of the target mode, thereby realizing the dual-mode switching entry of local physical switch and diagnostic configuration.

[0123] Among them, specific modes such as maintenance mode can only be accessed and exited through the diagnostic interface to ensure security.

[0124] Corresponding to the above embodiments, this application also provides a vehicle including a region controller, which is used to perform some or all of the steps in the above method embodiments.

[0125] Corresponding to the above embodiments, this application also provides a vehicle control device.

[0126] See Figure 6 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application. Figure 6 As shown, the vehicle control device 600 includes a switch status acquisition module 601, an arbitration module 602, and a component control module 603.

[0127] The switch status acquisition module 601 is used to acquire the direct and indirect switch status of the target components of the vehicle. Arbitration module 602 is used to determine the arbitration switch state of the target component based on the directly acquired switch state, the indirectly acquired switch state, and the preset arbitration logic. The preset arbitration logic includes a logical OR operation. The component control module 603 is used to control the target component according to the state of the arbitration switch.

[0128] Corresponding to the above embodiments, this application also provides an electronic device.

[0129] See Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 7 As shown, the electronic device 700 may include a processor 701, a memory 702, and a communication unit 703. These components communicate via one or more buses. Those skilled in the art will understand that the electronic device structure shown in the figures does not constitute a limitation on the embodiments of this application. It may be a bus topology or a star topology, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0130] The communication unit 703 is used to establish a communication channel, thereby enabling the electronic device to communicate with other devices.

[0131] The processor 701, serving as the control center of the electronic device, connects various parts of the electronic device 700 via various interfaces and lines. It executes software programs and / or modules stored in the memory 702, and calls data stored in the memory 702, to perform various functions and / or process data within the electronic device 700. The processor 701 can be composed of integrated circuits (ICs), such as a single packaged IC or multiple packaged ICs with the same or different functions connected together. For example, the processor 701 may consist only of a central processing unit (CPU). In this embodiment, the CPU may have a single processing core or include multiple processing cores.

[0132] Memory 702 is used to store the execution instructions of processor 701. Memory 702 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random-access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0133] When the execution instructions in memory 702 are executed by processor 701, the electronic device 700 is able to perform some or all of the steps in the above method embodiments.

[0134] Corresponding to the above embodiments, this application also provides a computer-readable storage medium, wherein the computer-readable storage medium may store a program, wherein when the program runs, it can control the device where the computer-readable storage medium is located to execute some or all of the steps in the above method embodiments. In specific implementation, the computer-readable storage medium may be a disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0135] Corresponding to the above embodiments, this application also provides a computer program product containing executable instructions that, when executed on a computer, cause the computer to perform some or all of the steps in the above method embodiments.

[0136] In this application embodiment, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent the existence of A alone, the simultaneous existence of A and B, or the existence of B alone. A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects have an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, and c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0137] Those skilled in the art will recognize that the units and algorithm steps described in the embodiments disclosed herein can be implemented using electronic hardware, computer software, or a combination of electronic hardware and software. 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.

[0138] Those skilled in the art will 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.

[0139] In the several embodiments provided in this application, any function, if implemented as a software functional unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, essentially, or the part that contributes to the prior art, or a portion 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 described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, read-only memory (ROM) or random access memory (RAM), a magnetic disk, or an optical disk.

[0140] The above description is merely a specific embodiment of this application. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the protection scope of this application. The protection scope of this application shall be determined by the scope of the appended claims.

Claims

1. A vehicle control method, characterized in that, Applied to a region controller, the method includes: Acquire the direct and indirect acquisition switch states of the target components of the vehicle; The arbitration switch state of the target component is determined based on the direct acquisition switch state, the indirect acquisition switch state, and the preset arbitration logic, wherein the preset arbitration logic includes a logical OR operation. The target component is controlled according to the state of the arbitration switch.

2. The method according to claim 1, characterized in that, The step of determining the arbitration switch state of the target component based on the direct acquisition switch state, the indirect acquisition switch state, and the preset arbitration logic includes: Based on the acquisition timestamp of the indirect acquisition switch status and the continuity of the acquired data, determine whether the indirect acquisition switch status is reliable; If the indirect acquisition switch state is unreliable, then the direct acquisition switch state is determined to be the arbitration switch state; If the indirect acquisition switch state is reliable, then the arbitration switch state of the target component is determined based on the direct acquisition switch state, the indirect acquisition switch state, and the preset arbitration logic.

3. The method according to claim 1, characterized in that, The preset arbitration logic also includes logical AND operations.

4. The method according to claim 1, characterized in that, Also includes: Receive control requests from other controllers for the target component; The validity of the control request is determined based on the first and second request states of the control requests made by the other controllers to the target component. The first request status is used to indicate whether a control request exists, and the second request status is used to indicate whether the control request is trustworthy. When the control request is valid, the target component is controlled according to the arbitration switch state and the content of the control request, wherein the content of the control request includes the switch state control operation of the target component.

5. The method according to claim 4, characterized in that, When the control request is valid, the target component is controlled according to the arbitration switch state and the content of the control request, including: When the control request is valid, if the state of the arbitration switch changes, the target component is controlled according to the changed state of the arbitration switch. If the state of the arbitration switch does not change, the target component is controlled according to the content of the control request.

6. The method according to claim 4, characterized in that, After controlling the target component according to the arbitration switch state and the control request content, the method further includes: If the control request becomes invalid, the target component is controlled according to the arbitration switch state of the target component before the control request was received.

7. The method according to claim 1, characterized in that, Also includes: If, within a preset time interval, the change in the arbitration switch state of the target component satisfies the first preset condition, and the vehicle's motion state satisfies the second preset condition, then the vehicle will be switched to a preset control mode.

8. A vehicle, characterized in that, include: A region controller, the region controller being used to perform the method according to any one of claims 1-7.

9. A vehicle control device, characterized in that, include: The switch status acquisition module is used to acquire the direct and indirect switch status of the target components of the vehicle. The arbitration module is used to determine the arbitration switch state of the target component based on the direct acquisition switch state, the indirect acquisition switch state, and the preset arbitration logic, wherein the preset arbitration logic includes a logical OR operation. The component control module is used to control the target component according to the arbitration switch state.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method described in any one of claims 1 to 7.

Images