A vehicle multi-domain cooperative control system

Abstract

The application provides a vehicle multi-domain cooperative control system, and relates to the technical field of vehicle control. The system comprises: a data acquisition unit for acquiring vehicle operation information and resource state information. A cross-domain task management unit is used to determine cross-domain cooperative tasks and corresponding task execution information according to the vehicle operation information. A vehicle resource management unit is used to determine resource guarantee information according to the task execution information and the resource state information. Vehicle resources are allocated to domain controllers, and vehicle resources are reserved for safety guarantee tasks. The domain controller is used to execute corresponding domain control tasks according to the task execution information, execute local takeover operations using the reserved vehicle resources in the case that the corresponding vehicle domain meets the local takeover condition, and feed back takeover execution information. The problems of insufficient control timeliness and poor reliability caused by resource competition or untimely task adjustment of safety guarantee tasks in the multi-domain cooperative control process of the traditional cross-domain control system can be solved.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a multi-domain cooperative control system for vehicles. Background Technology

[0002] As vehicle electronic and electrical architecture evolves towards multi-domain integration, vehicles typically have multiple domain controllers corresponding to the cockpit domain, powertrain domain, body domain, chassis domain, and autonomous driving domain. Different domain controllers can execute corresponding control tasks based on the vehicle's operating status, and coordinate cross-domain tasks and allocate vehicle resources through a central control device.

[0003] However, related cross-domain control systems typically focus on the unified issuance and execution of multiple domain control tasks, without fully considering the continuous execution requirements of safety-related control tasks when vehicle computing, network, and power resources are limited. When multiple domain control tasks run simultaneously, resource contention can easily lead to delays in the response of safety-related control tasks. Furthermore, in the event of a vehicle emergency and communication failures or untimely responses from the central control equipment, the domain controller may not be able to receive task adjustment instructions in a timely manner and may lack the resources required to execute local emergency control, thus affecting the timeliness and reliability of vehicle control in emergency situations. Summary of the Invention

[0004] The purpose of this application is to provide a multi-domain cooperative control system for vehicles to solve the problems of insufficient control timeliness and poor reliability caused by resource competition or untimely task adjustment in the process of multi-domain cooperative control of traditional cross-domain control systems.

[0005] In a first aspect, embodiments of this application provide a multi-domain cooperative control system for vehicles, comprising: a data acquisition unit, a cross-domain task management unit, a vehicle resource management unit, and multiple domain controllers. Each domain controller corresponds to a different vehicle domain.

[0006] The data acquisition unit is used to acquire vehicle operation information and resource status information of each domain controller.

[0007] The cross-domain task management unit is used to determine cross-domain collaborative tasks and their corresponding task execution information based on vehicle operation information. Task execution information includes the domain control tasks to be executed by each domain controller, task association information between domain control tasks, and safety assurance task identifiers. The safety assurance task identifiers are used to indicate safety assurance tasks within the domain control tasks.

[0008] The Vehicle Resource Management Unit is used to determine resource assurance information based on task execution information and resource status information. It allocates vehicle resources to each domain controller according to the resource assurance information and reserves vehicle resources for security assurance tasks.

[0009] Each domain controller is used to execute the corresponding domain control task according to the task execution information, and, when the corresponding vehicle domain meets the local takeover conditions, to perform local takeover operations using the vehicle resources reserved for the corresponding security task, and to feed back the takeover execution information.

[0010] The vehicle multi-domain cooperative control system provided in this application determines cross-domain cooperative tasks based on vehicle operation information and establishes cooperative relationships between different domain control tasks through task association information. This enables multiple domain controllers to execute corresponding domain control tasks in an orderly manner around the same cross-domain cooperative task. Furthermore, by identifying safety assurance tasks within the cross-domain cooperative task through safety assurance task identifiers and allocating vehicle resources based on the resource status information of each domain controller, as well as reserving vehicle resources for safety assurance tasks, the system can reduce the occupation of vehicle resources required by safety assurance tasks by other domain control tasks. When the corresponding vehicle domain meets the local takeover conditions, the domain controller can directly utilize the reserved vehicle resources to perform local takeover operations, avoiding delays in control due to temporary vehicle resource requests or waiting for task adjustment information from the cross-domain task management unit. This improves the timeliness of safety assurance task execution and the reliability of vehicle control in emergency situations during multi-domain cooperative control.

[0011] One possible implementation involves the cross-domain task management unit, when determining cross-domain collaborative tasks and their corresponding task execution information based on vehicle operation information, specifically performing the following steps: Determining the collaborative control objective corresponding to the cross-domain collaborative task based on the vehicle operation information; determining task composition information and task collaboration constraint information based on the collaborative control objective, and determining task safety attribute information based on the vehicle operation information and the collaborative control objective; determining the domain control tasks to be executed by each domain controller based on the task composition information; determining the task association information between the various domain control tasks based on the task collaboration constraint information; determining the safety assurance task and its identifier based on the task safety attribute information; and generating task execution information based on each domain control task, task association information, and safety assurance task identifier.

[0012] One possible implementation involves the cross-domain task management unit, when determining task composition information and task coordination constraint information based on the collaborative control objective, specifically performing the following steps: First, it breaks down the collaborative control objective into multiple domain control objectives, each corresponding to a different control function. Then, based on the control object and vehicle domain corresponding to each domain control objective, it determines the domain controller corresponding to each domain control objective and generates domain control tasks to be executed by each domain controller, thus obtaining task composition information. Finally, based on the triggering conditions, completion conditions, and the use of execution results by other domain control tasks by each domain control task, it determines the execution order, dependencies, and parallel execution relationships among the domain control tasks, thus obtaining task coordination constraint information.

[0013] One possible implementation involves the cross-domain task management unit, when determining task safety attribute information based on vehicle operation information and collaborative control objectives, specifically performing the following: Based on vehicle operation information, determining the control impact information of delayed or interrupted execution of each domain control task on vehicle driving safety and related domain control tasks. Based on the control impact information, identifying safety assurance tasks that meet the safety assurance conditions from among the various domain control tasks. Based on the control object corresponding to the safety assurance task, the control impact information, and the target response time, determining the local takeover requirement information corresponding to the safety assurance task. The local takeover requirement information includes state triggering conditions, response anomaly conditions, and minimum resource guarantee information. Based on the safety assurance task and the local takeover requirement information, generating task safety attribute information and a safety assurance task identifier.

[0014] One possible implementation involves the vehicle resource management unit determining resource assurance information based on task execution information and resource status information, specifically by: determining the available resource information for each domain controller based on its resource status information. Vehicle resources include one or more of the following: computing resources, network resources, and power resources. Based on the minimum resource assurance information for each security task and the available resource information of the corresponding domain controller, resource reservation information for each security task is determined. Based on the remaining vehicle resources after reserving vehicle resources, the resource requirements for each domain control task, and task association information, resource allocation information for each domain control task is determined. Resource assurance information is generated based on the resource reservation information and resource allocation information.

[0015] One possible implementation involves the vehicle resource management unit determining resource allocation information for each domain control task based on remaining vehicle resources after reserving vehicle resources, resource requirements for each domain control task, and task association information. Specifically, this involves: identifying tasks with resource gaps that require support based on remaining vehicle resources and resource requirements for each domain control task; identifying candidate adjustment tasks from non-security tasks whose execution will not disrupt security tasks based on task association information and security task identifiers; identifying target adjustment tasks from candidate adjustment tasks based on resource gaps corresponding to tasks requiring support and the amount of releaseable resources for each candidate adjustment task; delaying the execution of the target adjustment task, reducing or suspending the vehicle resources occupied by the target adjustment task, and allocating the released vehicle resources to tasks requiring support.

[0016] One possible implementation is that local takeover conditions include state trigger conditions and response anomaly conditions. The domain controller is also used to: determine whether the corresponding vehicle domain meets the state trigger conditions for the corresponding security task based on the local domain operation data of the corresponding vehicle domain; determine whether the corresponding vehicle domain meets the response anomaly conditions based on the target response time corresponding to the security task and the reception status of task adjustment information; and determine that the corresponding vehicle domain meets both the state trigger conditions and the response anomaly conditions if it is determined that the corresponding vehicle domain meets the local takeover conditions.

[0017] One possible implementation involves the domain controller, when performing a local takeover operation using vehicle resources reserved for the corresponding security task and feeding back takeover execution information, specifically: determining the takeover control parameters corresponding to the local takeover operation based on the local domain operation data and preset emergency control rules of the corresponding vehicle domain; invoking the vehicle resources reserved for the corresponding security task and controlling the control objects of the corresponding vehicle domain according to the takeover control parameters; generating takeover execution information based on the task identifier of the corresponding security task, the control objects corresponding to the local takeover operation, the takeover time, the takeover control parameters, the execution result, and the actual resource usage information; storing the takeover execution information in the event of an abnormal communication status between the corresponding domain controller and the cross-domain task management unit, and sending the takeover execution information to the cross-domain task management unit after the communication status is restored.

[0018] In one possible implementation, the cross-domain task management unit is further configured to: determine the security assurance task corresponding to the local takeover operation and the task association information corresponding to the security assurance task based on the task identifier in the takeover execution information; determine the task impact information of the local takeover operation on the domain control tasks that have not yet been executed based on the control object and execution result corresponding to the local takeover operation; update the domain control tasks that have achieved the corresponding control objectives through the local takeover operation to the completed state based on the task impact information, cancel the domain control tasks that have control conflicts with the local takeover operation, and update the task association information between the remaining domain control tasks; generate updated task execution information based on the updated domain control tasks and task association information, and send the updated task execution information to the corresponding domain controller.

[0019] In one possible implementation, the data acquisition unit is further configured to acquire emergency status de-escalation information for the corresponding vehicle domain. The cross-domain task management unit is further configured to determine the task succession node from the remaining domain control tasks based on the emergency status de-escalation information, takeover execution information, and updated task association information; generate takeover exit information including the task succession node and updated task association information; and send the takeover exit information to the corresponding domain controller. The domain controller executing the local takeover operation is further configured to exit the local takeover state based on the takeover exit information. The domain controller executing the task succession node and subsequent domain control tasks is further configured to continue executing the cross-domain collaborative task from the task succession node according to the updated task association information. The vehicle resource management unit is further configured to reclaim vehicle resources corresponding to completed or revoked domain control tasks and reallocate the reclaimed vehicle resources according to the resource requirements of the remaining domain control tasks.

[0020] Secondly, embodiments of this application provide a vehicle multi-domain cooperative control device, which has the function of implementing the vehicle multi-domain cooperative control method of the first aspect or any possible implementation thereof. This function can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above-described function.

[0021] Thirdly, embodiments of this application provide a computer-readable storage medium storing instructions that, when executed on a computer, enable the computer to perform the vehicle multi-domain cooperative control method described in the first aspect or any possible implementation thereof.

[0022] Fourthly, embodiments of this application provide a computer program product containing instructions that, when run on a computer, enable the computer to execute the vehicle multi-domain cooperative control method described in the first aspect or any possible implementation thereof.

[0023] The technical effects of any of the design methods in the second to fourth aspects can be found in the first aspect or the technical effects of different possible implementations of the first aspect, and will not be repeated here. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0025] Figure 1A system architecture diagram of a vehicle multi-domain cooperative control system provided in this application embodiment; Figure 2 A specific example diagram of a vehicle multi-domain cooperative control system provided in this application embodiment; Figure 3 This is another specific example diagram of a vehicle multi-domain cooperative control system provided in the embodiments of this application; Figure 4 This is yet another specific example diagram of a vehicle multi-domain cooperative control system provided in the embodiments of this application; Figure 5 Another specific example diagram of a vehicle multi-domain cooperative control system provided in this application embodiment; Figure 6 Another specific example diagram of a vehicle multi-domain cooperative control system provided in this application embodiment; Figure 7 This is another specific example diagram of a vehicle multi-domain cooperative control system provided in the embodiments of this application. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0027] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0028] As vehicle electronic and electrical architecture evolves towards multi-domain integration, vehicles typically employ domain controllers corresponding to different vehicle domains, such as the cockpit domain, powertrain domain, body domain, chassis domain, and autonomous driving domain. Each domain controller can collect data from its corresponding vehicle domain and control the actuators within that domain. In some complex vehicle scenarios, the control operations of a single vehicle domain may not be sufficient to independently achieve the overall control objective. Multiple domain controllers may need to collaboratively execute cross-domain tasks according to a specific execution sequence or dependency. For example, when driver fatigue is detected, the cockpit domain may need to issue a fatigue warning, the autonomous driving domain may need to adjust the vehicle's driving state, and the chassis domain may need to implement vehicle stability control.

[0029] The relevant technology typically involves a central control unit generating multiple domain control tasks based on the current vehicle scenario and issuing control commands to the corresponding domain controllers. However, multiple domain control tasks may simultaneously consume the vehicle's computing, network, and power resources during execution. When vehicle resources are insufficient, resource contention can easily occur between different domain control tasks. If tasks are still executed according to their triggering order or fixed resource configuration, non-safety-related tasks such as entertainment and comfort adjustments may consume a significant amount of vehicle resources, preventing domain control tasks related to vehicle driving safety from obtaining sufficient resources in a timely manner, resulting in response delays or execution interruptions.

[0030] Furthermore, domain controllers in related technologies typically rely on task adjustment information sent by the central control unit to perform control operations. In situations such as vehicle emergencies, high central control unit workloads, congestion in the vehicle communication network, or communication anomalies between the domain controller and the central control unit, the domain controller may fail to receive the task adjustment information sent for the emergency in a timely manner. Even if the domain controller has some local control capabilities, if the computing, network, or power resources required for local control are already occupied by other domain control tasks, the domain controller may still struggle to perform the corresponding local takeover operations in a timely manner, thus affecting the timeliness and reliability of vehicle control during emergencies.

[0031] Based on this, embodiments of this application provide a multi-domain cooperative control system for vehicles. The system includes a data acquisition unit, a cross-domain task management unit, a vehicle resource management unit, and multiple domain controllers, each corresponding to a different vehicle domain. The data acquisition unit acquires vehicle operation information and resource status information of each domain controller. The cross-domain task management unit determines cross-domain cooperative tasks and corresponding task execution information based on the vehicle operation information. The task execution information includes domain control tasks to be executed by each domain controller, task association information between domain control tasks, and a safety assurance task identifier, which indicates a safety assurance task within the domain control tasks. The vehicle resource management unit determines resource assurance information based on the task execution information and resource status information, allocates vehicle resources to each domain controller according to the resource assurance information, and reserves vehicle resources for safety assurance tasks. Each domain controller executes the corresponding domain control task according to the task execution information, and, when the corresponding vehicle domain meets the local takeover conditions, performs a local takeover operation using the vehicle resources reserved for the corresponding safety assurance task, and provides feedback on the takeover execution information.

[0032] The vehicle multi-domain cooperative control system provided in this application determines cross-domain cooperative tasks based on vehicle operation information and establishes cooperative relationships between different domain control tasks through task association information. This enables multiple domain controllers to execute corresponding domain control tasks in an orderly manner around the same cross-domain cooperative task. Furthermore, by identifying safety assurance tasks within the cross-domain cooperative task through safety assurance task identifiers and allocating vehicle resources based on the resource status information of each domain controller, as well as reserving vehicle resources for safety assurance tasks, the system can reduce the occupation of vehicle resources required by safety assurance tasks by other domain control tasks. When the corresponding vehicle domain meets the local takeover conditions, the domain controller can directly utilize the reserved vehicle resources to perform local takeover operations, avoiding delays in control due to temporary vehicle resource requests or waiting for task adjustment information from the cross-domain task management unit. This improves the timeliness of safety assurance task execution and the reliability of vehicle control in emergency situations during multi-domain cooperative control.

[0033] The system provided in the embodiments of this application will now be described in conjunction with specific accompanying drawings.

[0034] On the one hand, embodiments of this application provide a vehicle multi-domain cooperative control system. For example... Figure 1 As shown, the vehicle multi-domain collaborative control system 100 may include: a data acquisition unit 101, a cross-domain task management unit 102, a vehicle resource management unit 103, and multiple domain controllers 104.

[0035] Each of the multiple domain controllers 104 corresponds to a different vehicle domain. This vehicle domain may include the cockpit domain, powertrain domain, body domain, chassis domain, and autonomous driving domain, etc.

[0036] Furthermore, such as Figure 2 As shown, the vehicle multi-domain cooperative control system 100 may further include a data storage unit 105 and an interaction interface unit 106. The various units can be connected via in-vehicle Ethernet, vehicle bus, or other in-vehicle communication networks to transmit vehicle operation information, task execution information, resource support information, and task execution results.

[0037] The data acquisition unit 101 is used to acquire vehicle operation information and resource status information of each domain controller 104.

[0038] This vehicle operation information is used to represent the current status of the driver, the vehicle, the external environment, and each vehicle domain. The vehicle operation information may include driver status data, vehicle operating condition data, external environment data, and the operating status data of each domain controller 104.

[0039] One possible implementation is, such as Figure 3As shown, the data acquisition unit 101 may include a driver status acquisition component 1011, a vehicle operating condition acquisition component 1012, an external environment acquisition component 1013, and a domain operation information acquisition component 1014.

[0040] Specifically, the driver status acquisition component 1011 can collect the driver's facial expressions, fatigue status, heart rate, and steering operation data through a driver monitoring camera, heart rate sensor, and steering wheel pressure sensor. Based on the above data, the driver's attention status, fatigue level, physiological state, and operational intentions can be determined.

[0041] The vehicle operating condition acquisition component 1012 can collect vehicle operating condition data such as vehicle speed, power system speed, power output status, remaining battery power, vehicle posture, braking status, and steering status through vehicle speed sensor, engine speed sensor, motor speed sensor, battery status sensor, and chassis attitude sensor.

[0042] The external environment acquisition component 1013 can collect information on road conditions, obstacle conditions, weather conditions, and vehicle location through millimeter-wave radar, lidar, environmental cameras, and positioning devices. Road conditions can include road type, road boundaries, and road traffic conditions, while obstacle conditions can include the location, movement, and type of obstacles.

[0043] The domain operation information acquisition component 1014 can obtain the corresponding vehicle domain's operation status data from each domain controller 104. This operation status data may include the domain controller 104's operating load, operating temperature, communication status, and fault status.

[0044] Resource status information indicates the vehicle resources that each domain controller 104 can currently provide or has already occupied. Vehicle resources may include computing resources, network resources, and power resources. Computing resources may include general-purpose processor resources, graphics processor resources, and storage resources. Network resources may include vehicular communication network bandwidth, mobile communication network bandwidth, wireless local area network bandwidth, and dedicated access point network channels. Power resources may include the power supply available to each domain controller 104 and its corresponding execution unit, and the power supply priority.

[0045] Specifically, resource status information can include the total resources of each domain controller 104, current resource usage, available resources, and resource operating status. Resource operating status can include processor load, storage space utilization, network bandwidth utilization, communication latency, power consumption, operating temperature, and resource fault information.

[0046] The data acquisition unit 101 can perform time synchronization, noise reduction, standardization, and format conversion on the collected data, so that data from different acquisition components and different domain controllers 104 have a unified time base and data format. The data acquisition unit 101 can send the processed vehicle operation information and resource status information to the cross-domain task management unit 102 and the vehicle resource management unit 103, and store the collected raw data and processed data in the data storage unit 105.

[0047] The cross-domain task management unit 102 is used to determine cross-domain collaborative tasks and corresponding task execution information based on vehicle operation information.

[0048] The cross-domain collaborative task represents a vehicle control task that requires collaboration between multiple domain controllers 104 corresponding to different vehicle domains. Task execution information indicates the composition of the cross-domain collaborative task and the collaborative relationships between the various domain control tasks. This information includes the domain control tasks to be executed by each domain controller 104, task association information between the domain control tasks, and a safety assurance task identifier. The safety assurance task identifier indicates the safety assurance task within the domain control task.

[0049] One possible implementation is, such as Figure 4 As shown, the cross-domain task management unit 102 may include a situation analysis component 1021, a task structure generation component 1022, a security attribute evaluation component 1023, and a task coordination component 1024.

[0050] The situation analysis component 1021 can fuse vehicle operation information, eliminate duplicate and conflicting information between different data, and extract the combined scene features corresponding to the current vehicle. The situation analysis component 1021 can also call historical vehicle operation information, historical task execution data, preset control rules, and user preference information from the data storage unit 105, and combine them with the currently collected vehicle operation information to determine the comprehensive operation scene in which the vehicle is currently located.

[0051] For example, when driver status data indicates that the driver is fatigued, and vehicle operating data indicates that the vehicle is traveling at high speed, it can be determined that the vehicle is in a high-speed driving scenario due to driver fatigue. When the vehicle multi-domain collaborative control system 100 receives a vehicle upgrade task, and resource status information indicates that the current network load is high, it can be determined that the vehicle is in a high network load upgrade scenario.

[0052] The task structure generation component 1022 can determine the collaborative control objectives corresponding to the cross-domain collaborative tasks based on the comprehensive operation scenario, and determine the task composition information and task collaborative constraint information based on the collaborative control objectives.

[0053] The collaborative control objective represents the overall vehicle control state required to execute cross-domain collaborative tasks. Task composition information represents the various domain control tasks required to achieve the collaborative control objective and the domain controllers 104 executing these tasks. Task collaboration constraint information represents the constraints between different domain control tasks in terms of execution time, execution status, and task results.

[0054] Specifically, the task structure generation component 1022 can split the collaborative control target into multiple domain control targets corresponding to different control functions. Based on the control object corresponding to each domain control target and the vehicle domain to which the control object belongs, the domain controller 104 corresponding to each domain control target is determined, and the domain control tasks to be executed by each domain controller 104 are generated to obtain task composition information.

[0055] For each domain control task, the task structure generation component 1022 can determine the triggering conditions, completion conditions, and task execution result of the domain control task. The triggering conditions represent the vehicle state or preceding task state that allows the corresponding domain control task to begin execution. The completion conditions represent the vehicle state or controlled object state that must be satisfied when the corresponding domain control task achieves its control objective. The task execution result can serve as input information or triggering basis for other domain control tasks.

[0056] The task structure generation component 1022 can determine the execution order, dependency relationship and parallel execution relationship between various domain control tasks based on the triggering conditions, completion conditions and the use of task execution results by other domain control tasks, and obtain task coordination constraint information.

[0057] For example, in a scenario where the driver is fatigued while driving at high speed, the cooperative control objective can be to reduce the vehicle driving risks caused by driver fatigue. The task structure generation component 1022 can generate a fatigue warning task executed by the cockpit domain controller, a driving speed adjustment task executed by the autonomous driving domain controller, and a vehicle stability control task executed by the chassis domain controller. The fatigue warning task, driving speed adjustment task, and vehicle stability control task can be executed in a preset order, or they can be partially executed in parallel when corresponding trigger conditions are met.

[0058] The safety attribute assessment component 1023 can determine task safety attribute information based on vehicle operation information and collaborative control objectives. The task safety attribute information represents the impact on vehicle driving safety and related domain control tasks when various domain control tasks experience delays or interruptions in execution.

[0059] Specifically, the safety attribute assessment component 1023 can determine the control impact information on the corresponding controlled object, vehicle driving state, and associated domain control tasks when each domain control task is delayed or interrupted. Based on the control impact information, safety assurance tasks that meet the safety assurance conditions are identified from each domain control task.

[0060] For example, if a domain control task is delayed or interrupted, resulting in the vehicle's inability to brake in time, reduced steering stability, abnormal power output, or failure to promptly eliminate driver risks, then that domain control task can be classified as a safety assurance task. If a domain control task is primarily used to adjust the audio system, ambient lighting, or non-essential cabin comfort functions, then that domain control task can be classified as a non-safety assurance task.

[0061] The security attribute assessment component 1023 can set a security task identifier for a security task and determine the local takeover requirement information corresponding to the security task based on the controlled object, control impact information, and target response duration. The local takeover requirement information may include status triggering conditions, response anomaly conditions, and minimum resource guarantee information.

[0062] The status trigger condition indicates the vehicle status for which a local takeover operation needs to be performed in the corresponding vehicle domain. The response exception condition indicates the status of the domain controller 104 failing to receive the task adjustment information issued by the cross-domain task management unit 102 in a timely manner. The minimum resource guarantee information indicates the minimum computing resources, minimum network resources, and minimum power resources required for the domain controller 104 to perform the corresponding security guarantee task or local takeover operation.

[0063] The cross-domain task management unit 102 can determine the domain control tasks to be executed by each domain controller 104 based on the task composition information, determine the task association information between each domain control task based on the task coordination constraint information, and determine the security assurance task and security assurance task identifier based on the task security attribute information. The cross-domain task management unit 102 generates the task execution information corresponding to the cross-domain collaborative task based on each domain control task, task association information, and security assurance task identifier.

[0064] In one possible implementation, the task execution information may also include the task identifier of the cross-domain collaborative task, the task identifier of each domain control task, the control object, the triggering condition, the completion condition, the task priority, the target response time, and the local takeover requirement information.

[0065] Task priorities can be determined based on the security attributes and control functions of domain control tasks. Security-related tasks can have higher priorities than comfort-related tasks, and vice versa. When multiple domain control tasks experience control conflicts or resource conflicts, the task coordination component 1024 can prioritize the domain control task with the higher priority.

[0066] After determining the task execution information, the cross-domain task management unit 102 can send each domain control task and its corresponding task association information to the corresponding domain controller 104, and send the task execution information to the vehicle resource management unit 103.

[0067] The vehicle resource management unit 103 is used to determine resource guarantee information based on task execution information and resource status information, allocate vehicle resources to each domain controller 104 according to the resource guarantee information, and reserve vehicle resources for security guarantee tasks.

[0068] Resource assurance information refers to the vehicle resources available for each domain control task during cross-domain collaborative task execution, as well as the vehicle resources reserved for safety assurance tasks. Resource assurance information may include resource reservation information, resource allocation information, resource usage periods, and resource adjustment conditions.

[0069] In one possible implementation, the vehicle resource management unit 103 can determine the computing resource requirements, network resource requirements, power resource requirements, and expected resource occupancy duration for each domain control task based on the task content of each domain control task, the domain controller 104 executing the domain control task, and the target response time.

[0070] The vehicle resource management unit 103 can determine the available computing resources, available network resources, and available power resources of each domain controller 104 based on the total resources and current resource occupancy of each domain controller 104. For security tasks with a security task identifier, the vehicle resource management unit 103 can determine the resource reservation information corresponding to the security task based on the minimum resource guarantee information corresponding to the security task and the available resource information of the corresponding domain controller 104.

[0071] The vehicle resource management unit 103 can reserve computing resources, network resources, and power resources for various security tasks according to resource reservation information. Reserved vehicle resources can be resources independently allocated from the vehicle's currently available resources, or resource quotas that can be preferentially reclaimed when a security task is triggered. Reserved vehicle resources can remain in a pending state when a security task is not triggered, thus preventing them from being continuously occupied by other domain control tasks.

[0072] After reserving vehicle resources for the safety assurance task, the vehicle resource management unit 103 can determine the resource allocation information for each domain control task based on the remaining vehicle resources, the resource requirements for each non-safety assurance task, and the task association information, and generate resource assurance information based on the resource reservation information and resource allocation information.

[0073] When the remaining vehicle resources cannot meet the resource requirements of each domain control task, the vehicle resource management unit 103 can determine candidate adjustment tasks from the non-safety assurance tasks that have not yet been executed, based on task association information. These candidate adjustment tasks can be domain control tasks that can be delayed, have their running frequency reduced, have their resource consumption decreased, or have their execution suspended.

[0074] The vehicle resource management unit 103 can determine the target adjustment task from the candidate adjustment tasks based on the resource gap corresponding to the task to be guaranteed with resource shortage and the amount of vehicle resources that can be released by each candidate adjustment task. The vehicle resource management unit 103 delays the execution of the target adjustment task, or reduces or suspends the vehicle resources occupied by the target adjustment task, and allocates the released vehicle resources to the domain control tasks whose resource requirements are not met.

[0075] For example, when performing hazard avoidance tasks in the autonomous driving domain, if computing resources are insufficient, the vehicle resource management unit 103 can reduce the operating frequency of cockpit entertainment tasks or suspend entertainment content processing, allocating the freed computing resources to the autonomous driving domain controller. When network resources are insufficient, the upload of vehicle operation logs or other non-real-time data can be delayed, allocating the freed network bandwidth to safety assurance tasks. When the vehicle's remaining battery power is low, the allocation of power resources to non-core vehicle functions can be reduced, prioritizing the operation of safety functions such as braking, steering, power control, and driver assistance.

[0076] Multiple domain controllers 104 are used to execute corresponding domain control tasks according to task execution information. For example... Figure 5 As shown, the multiple domain controllers 104 may include a cockpit domain controller 1041, a powertrain domain controller 1042, a body domain controller 1043, a chassis domain controller 1044, and an autonomous driving domain controller 1045. The different domain controllers 104 can be independent physical controllers or different logical control areas located in the same vehicle computing platform.

[0077] The cockpit domain controller 1041 can be used to perform domain control tasks such as driver fatigue warning, air conditioning adjustment, audio control, navigation interaction, and cockpit environment adjustment, and to feed back the corresponding execution status and execution results to the cross-domain task management unit 102.

[0078] The powertrain domain controller 1042 can be used to perform domain control tasks such as engine speed regulation, motor speed regulation, power output adjustment, and powertrain energy consumption optimization. The powertrain domain controller 1042 can perform corresponding control operations on the powertrain system based on vehicle operating data, the corresponding domain control tasks, and allocated vehicle resources.

[0079] The vehicle body domain controller 1043 can be used to perform domain control tasks such as headlight control, window control, door lock control, and vehicle body fault detection.

[0080] The chassis domain controller 1044 can be used to perform domain control tasks such as suspension adjustment, braking control, steering assist, and vehicle attitude stability control.

[0081] The 1045 autonomous driving domain controller can be used to perform domain control tasks such as lane keeping, following other vehicles, speed adjustment, risk path avoidance, and emergency braking.

[0082] After receiving task execution information, each domain controller 104 can determine, based on the triggering conditions and task association information of the corresponding domain control task, whether the preceding domain control task on which the corresponding domain control task depends has met the completion conditions, and then invoke the vehicle resources allocated by the vehicle resource management unit 103 to execute the corresponding domain control task. During the execution of the domain control task, each domain controller 104 can continuously report the task start status, task execution progress, task completion status, controlled object status, and actual resource usage information to the cross-domain task management unit 102.

[0083] Each domain controller 104 can also perform local takeover operations using the vehicle resources reserved for the corresponding security task, and provide feedback on the takeover execution information, provided that the corresponding vehicle domain meets the local takeover conditions.

[0084] Local takeover conditions can include state trigger conditions and response anomaly conditions. Each domain controller 104 can determine whether the corresponding vehicle domain meets the state trigger conditions for the security task based on the local domain operation data of the corresponding vehicle domain. Each domain controller 104 can also determine whether the corresponding vehicle domain meets the response anomaly conditions based on the target response time corresponding to the security task and the reception status of task adjustment information.

[0085] An abnormal response condition may include not receiving task adjustment information from the cross-domain task management unit 102 within the target response time. Failure to receive task adjustment information may be caused by excessive processing load on the cross-domain task management unit 102, congestion of the vehicle communication network, communication link failure, or abnormal operation of the cross-domain task management unit 102.

[0086] When the corresponding vehicle domain meets the state triggering conditions and response anomaly conditions, the domain controller 104 can determine that the corresponding vehicle domain meets the local takeover conditions. Different domain controllers 104 can set different state triggering conditions according to the control functions of the corresponding vehicle domain. For example, the state triggering condition for the autonomous driving domain controller 1045 can be the detection of a sudden obstacle or emergency collision risk; the state triggering condition for the chassis domain controller 1044 can be the detection of vehicle attitude instability or emergency braking demand; the state triggering condition for the powertrain domain controller 1042 can be the detection of a powertrain system anomaly; and the state triggering condition for the body domain controller 1043 can be the detection of anomalies in body components that affect vehicle safety.

[0087] After determining that the corresponding vehicle domain meets the local takeover conditions, the domain controller 104 can determine the takeover control parameters corresponding to the local takeover operation based on the local domain operation data and preset emergency control rules of the corresponding vehicle domain. The domain controller 104 calls the vehicle resources reserved for the corresponding security task and controls the control objects of the corresponding vehicle domain according to the takeover control parameters.

[0088] For example, when the autonomous driving domain controller 1045 detects a sudden obstacle and fails to receive task adjustment information in a timely manner, the autonomous driving domain controller 1045 can determine the target deceleration based on the obstacle's state and vehicle operating condition data, and utilize reserved computing, network, and power resources to perform hazard avoidance braking control. The chassis domain controller 1044 can determine braking force distribution parameters or suspension adjustment parameters based on vehicle attitude data, and utilize reserved vehicle resources to perform vehicle stability control.

[0089] It should be noted that each domain controller 104 can have local takeover functionality, but the domain controller 104 only performs local takeover operation when the local takeover conditions for the corresponding vehicle domain are met. Domain controllers 104 that do not meet the local takeover conditions continue to execute the corresponding domain control tasks according to the task execution information.

[0090] The domain controller 104 that performs the local takeover operation can generate takeover execution information based on the task identifier of the corresponding security task, the control object corresponding to the local takeover operation, the takeover time, the takeover control parameters, the execution result, and the actual resource usage information.

[0091] When communication between domain controller 104 and cross-domain task management unit 102 is normal, domain controller 104 can send takeover execution information to cross-domain task management unit 102. When communication is abnormal, domain controller 104 can store the takeover execution information in its local storage area and send the stored takeover execution information to cross-domain task management unit 102 after communication is restored to normal.

[0092] After receiving the takeover execution information, the cross-domain task management unit 102 can determine the security assurance task corresponding to the local takeover operation and the task association information corresponding to the security assurance task based on the task identifier in the takeover execution information. The cross-domain task management unit 102 then determines the task impact information of the local takeover operation on domain control tasks that have not yet been executed, based on the control object, takeover control parameters, and execution result corresponding to the local takeover operation.

[0093] Task impact information can be used to indicate whether a domain control task that has not yet been executed has achieved its corresponding control objective by a local takeover operation, whether there is a control conflict with the local takeover operation, or whether it can still continue to be executed.

[0094] For domain control tasks that have achieved their corresponding control objectives through local takeover operations, the cross-domain task management unit 102 can update the domain control task to a completed state. For domain control tasks that conflict with local takeover operations, the cross-domain task management unit 102 can revoke the domain control task. For domain control tasks that can still be executed, the cross-domain task management unit 102 can update the triggering conditions, execution order, and task dependencies of the corresponding domain control task based on the execution result of the local takeover operation.

[0095] For example, after the autonomous driving domain controller 1045 has performed emergency braking through local takeover operation, the cross-domain task management unit 102 can update the deceleration task in the original task execution information to a completed state, cancel the acceleration task that conflicts with the emergency braking, and redetermine the execution order of the vehicle stability control task and the cockpit alert task based on the vehicle's speed and attitude after braking.

[0096] The cross-domain task management unit 102 can generate updated task execution information based on the updated domain control tasks and task association information, and send the updated task execution information to the corresponding domain controller 104. The vehicle resource management unit 103 can reclaim vehicle resources occupied by completed or canceled domain control tasks, and reallocate the reclaimed vehicle resources based on the updated task execution information.

[0097] The data acquisition unit 101 can also acquire emergency status clearance information for the corresponding vehicle domain. Emergency status clearance information indicates that the emergency status that triggered the local takeover operation has disappeared or has been reduced to a level that allows exiting the local takeover status.

[0098] The cross-domain task management unit 102 can determine the task succession node from the remaining domain control tasks based on the emergency status cancellation information, takeover execution information, and updated task association information. The task succession node can be a domain control task whose preceding task has been completed, whose triggering conditions are still met, and which does not conflict with the local takeover operation.

[0099] The cross-domain task management unit 102 can generate takeover exit information including task succession nodes and updated task association information, and send the takeover exit information to the domain controller 104 that performs the local takeover operation, as well as the domain controller 104 that performs the task succession nodes and subsequent domain control tasks.

[0100] Domain controller 104, which performed the local takeover operation, exits the local takeover state based on the takeover exit information and sends a takeover exit confirmation message to the cross-domain task management unit 102. Domain controller 104, which executes the task succession node and subsequent domain control tasks, continues to execute the cross-domain collaborative task from the task succession node according to the updated task association information. Upon receiving the takeover exit confirmation message, vehicle resource management unit 103 reclaims unused reserved vehicle resources and reallocates the reclaimed vehicle resources based on the resource requirements of the remaining domain control tasks.

[0101] When a cross-domain collaborative task is executed normally and no local takeover occurs, the cross-domain task management unit 102 can also determine whether each domain control task has met the corresponding completion conditions based on the task execution status reported by each domain controller 104. When a cross-domain collaborative task is not yet completed, the cross-domain task management unit 102 can adjust the execution order, control parameters, or task association information of the domain control tasks based on the incomplete domain control tasks and their corresponding execution status. After the cross-domain collaborative task is completed, vehicle operation information, task execution information, resource guarantee information, and task execution results can be associated and stored in the data storage unit 105.

[0102] The data storage unit 105 is used to store the raw data collected by the data acquisition unit 101, the processed vehicle operation information, the task execution information corresponding to the cross-domain collaborative task, the resource guarantee information, the task execution history data, the preset control rules, the user preference information, and the operation logs of each domain controller 104.

[0103] One possible implementation is, such as Figure 6 As shown, the data storage unit 105 may include a rule storage area 1051, a historical data storage area 1052, and an operation log storage area 1053.

[0104] The rule storage area 1051 can store the mapping rules between vehicle scenarios and cross-domain collaborative tasks, task priority rules, local takeover rules, emergency control rules, and resource guarantee rules.

[0105] The historical data storage area 1052 can store historical vehicle operation information, historical cross-domain collaborative tasks, historical takeover execution information, and historical task execution results, which can be used by the cross-domain task management unit 102 to perform comprehensive operation scenario identification, task execution parameter adjustment, and vehicle operation trend judgment.

[0106] The operation log storage area 1053 can store the operating status, fault information, and resource usage records of each unit and each domain controller 104 for troubleshooting and system operation optimization. The operation logs can be cached in the vehicle and uploaded to the cloud server when network resources meet the log upload conditions.

[0107] The data storage unit 105 can adopt a distributed storage structure, storing different types of data in the central storage area and the local storage areas of each domain controller 104, thereby improving data read and write efficiency. The data storage unit 105 can also encrypt and store driver status data, vehicle operation data, and user preference information to reduce the risk of leakage of vehicle data and user privacy information.

[0108] The interactive interface unit 106 is used to realize information interaction between the vehicle multi-domain cooperative control system 100 and users and external devices. For example... Figure 7 As shown, the interaction interface unit 106 may include a user interaction interface 1061 and an external interaction interface 1062.

[0109] User interaction interface 1061 may include a vehicle central control screen, a voice interaction device, and a gesture interaction device. Users can use user interaction interface 1061 to view system operating status, set user preferences, confirm task execution results, or manually intervene in cross-domain collaborative tasks.

[0110] The external interaction interface 1062 may include a vehicle remote upgrade interface, a cloud communication interface, and a third-party device interface, which are used to realize data interaction between the vehicle multi-domain collaborative control system 100 and the cloud server, mobile terminal, and third-party vehicle equipment.

[0111] Upon receiving a vehicle remote upgrade task, the cross-domain task management unit 102 can determine the upgrade execution period, upgrade resource requirements, and security assurance tasks that need to remain executable during the upgrade execution period. The vehicle resource management unit 103 reserves vehicle resources according to the minimum resource assurance information corresponding to the security assurance task, and allocates network and computing resources other than the reserved vehicle resources to the vehicle remote upgrade task. The vehicle resource management unit 103 can also reduce the operating load of non-core domain control tasks and delay the upload of operation logs.

[0112] When a security task is triggered during a remote vehicle upgrade, the vehicle resource management unit 103 can reduce or suspend the vehicle resources occupied by the remote upgrade task and allocate the released vehicle resources to the triggered security task. After the security task is completed, the vehicle resource management unit 103 can restore the vehicle resource allocation corresponding to the remote upgrade task.

[0113] The external interaction interface 1062 can also be used to access newly added vehicle domains or newly added vehicle functions. The newly added domain controller can provide the cross-domain task management unit 102 with the control capability information, resource requirement information, and communication interface information of the corresponding vehicle domain. The cross-domain task management unit 102 updates the mapping rules between vehicle scenarios and cross-domain collaborative tasks based on the control capability information of the newly added domain controller, enabling the newly added domain controller to participate in subsequent cross-domain collaborative tasks without changing the overall architecture of the vehicle multi-domain collaborative control system 100.

[0114] The vehicle multi-domain cooperative control system 100 can also receive updated control rules, resource guarantee rules and data processing models through the external interaction interface 1062, and use the received updated data to update the rules in the rule storage area 1051 or the data processing model adopted by the cross-domain task management unit 102, thereby realizing the dynamic update and functional expansion of the vehicle multi-domain cooperative control system 100.

[0115] The above primarily describes the solutions provided in this application from the perspective of the device's working principle. It is understood that, in order to achieve the above functions, the vehicle multi-domain cooperative control device includes corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should readily recognize that, based on the algorithm steps of the examples described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0116] This application also provides a vehicle multi-domain cooperative control device, which can execute the vehicle multi-domain cooperative control method and related steps in the above method embodiments.

[0117] This application also provides a computer-readable storage medium storing instructions that, when executed, perform the vehicle multi-domain cooperative control method and related steps in the above method embodiments.

[0118] This application also provides a computer program product that, when run on a computer, causes the computer to execute the vehicle multi-domain cooperative control method and related steps described in the above method embodiments.

[0119] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A vehicle multi-domain cooperative control system, characterized in that, The system includes: a data acquisition unit, a cross-domain task management unit, a vehicle resource management unit, and multiple domain controllers; each domain controller corresponds to a different vehicle domain. The data acquisition unit is used to acquire vehicle operation information and resource status information of each domain controller. The cross-domain task management unit is used to determine cross-domain collaborative tasks and corresponding task execution information based on the vehicle operation information; the task execution information includes the domain control tasks to be executed by each domain controller, the task association information between the domain control tasks, and the security task identifier; the security task identifier is used to indicate the security task in the domain control task. The vehicle resource management unit is used to determine resource guarantee information based on the task execution information and the resource status information; allocate vehicle resources to each of the domain controllers according to the resource guarantee information; and reserve vehicle resources for the security guarantee task. Each of the domain controllers is used to execute the corresponding domain control task according to the task execution information, and, when the corresponding vehicle domain meets the local takeover conditions, to perform a local takeover operation using the vehicle resources reserved for the corresponding security task, and to feed back the takeover execution information.

2. The system according to claim 1, characterized in that, When the cross-domain task management unit determines the cross-domain collaborative task and the corresponding task execution information based on the vehicle operation information, it is specifically used for: Based on the vehicle operation information, determine the collaborative control objective corresponding to the cross-domain collaborative task; Based on the cooperative control objective, task composition information and task cooperative constraint information are determined, and based on the vehicle operation information and the cooperative control objective, task safety attribute information is determined. Based on the task composition information, the domain control tasks to be executed by each of the domain controllers are determined. Based on the task coordination constraint information, determine the task association information between each of the domain control tasks; Based on the task security attribute information, the security assurance task and the security assurance task identifier are determined; The task execution information is generated based on each of the domain control tasks, the task association information, and the security assurance task identifier.

3. The system according to claim 2, characterized in that, When the cross-domain task management unit determines the task composition information and the task coordination constraint information based on the collaborative control objective, it is specifically used for: The collaborative control objective is broken down into multiple domain control objectives, each corresponding to a different control function. Based on the control object and vehicle domain corresponding to each domain control target, determine the domain controller corresponding to each domain control target, and generate the domain control tasks to be executed by each domain controller, thereby obtaining the task composition information; Based on the triggering conditions, completion conditions, and the use of execution results by other domain control tasks for each domain control task, the execution order, dependency relationship, and parallel execution relationship among the domain control tasks are determined, thereby obtaining the task coordination constraint information.

4. The system according to claim 2, characterized in that, When the cross-domain task management unit determines the task safety attribute information based on the vehicle operation information and the collaborative control objective, it is specifically used for: Based on the vehicle operation information, determine the control impact information of delayed or interrupted execution of each domain control task on vehicle driving safety and related domain control tasks; Based on the control impact information, determine the security assurance tasks that meet the security assurance conditions from each of the domain control tasks; Based on the control object, control impact information, and target response time corresponding to the security assurance task, determine the local takeover requirement information corresponding to the security assurance task; The local takeover requirement information includes status triggering conditions, response anomaly conditions, and minimum resource guarantee information. Based on the security assurance task and the local takeover requirement information, generate the task security attribute information and the security assurance task identifier.

5. The system according to claim 4, characterized in that, When the vehicle resource management unit determines resource guarantee information based on the task execution information and the resource status information, it is specifically used for: Based on the resource status information of each domain controller, the available resource information of each domain controller is determined; the vehicle resources include one or more of the following: computing resources, network resources, and power resources; Based on the minimum resource guarantee information of each security task and the available resource information of the corresponding domain controller, determine the resource reservation information corresponding to each security task; Based on the remaining vehicle resources after reserving vehicle resources, the resource requirements corresponding to each domain control task, and the task association information, the resource allocation information corresponding to each domain control task is determined. The resource guarantee information is generated based on the resource reservation information and the resource allocation information.

6. The system according to claim 5, characterized in that, When the vehicle resource management unit determines the resource allocation information for each domain control task based on the remaining vehicle resources after reserving vehicle resources, the resource requirements corresponding to each domain control task, and the task association information, it is specifically used for: Based on the remaining vehicle resources and the resource requirements corresponding to each domain control task, identify the tasks with resource gaps that need to be guaranteed. Based on the task association information and the security task identifier, candidate adjustment tasks that will not block the security task are identified from the non-security tasks; Based on the resource gap corresponding to the task to be guaranteed and the amount of releaseable resources for each candidate adjustment task, the target adjustment task is determined from the candidate adjustment tasks; The execution of the target adjustment task may be delayed, or the vehicle resources occupied by the target adjustment task may be reduced or suspended, and the released vehicle resources may be allocated to the task to be guaranteed.

7. The system according to claim 4, characterized in that, The local takeover conditions include the state triggering conditions and the response exception conditions; the domain controller is also configured to: Based on the local domain operation data of the corresponding vehicle domain, determine whether the corresponding vehicle domain meets the state triggering conditions of the corresponding security task. Based on the target response time corresponding to the security task and the reception status of the task adjustment information, determine whether the corresponding vehicle domain meets the response anomaly conditions. If the corresponding vehicle domain is determined to meet the state triggering condition and the response anomaly condition, then the corresponding vehicle domain is determined to meet the local takeover condition.

8. The system according to claim 7, characterized in that, When the domain controller performs the local takeover operation using vehicle resources reserved for the corresponding security task and feeds back the takeover execution information, it is specifically used for: Based on the local domain operation data of the corresponding vehicle domain and the preset emergency control rules, determine the takeover control parameters corresponding to the local takeover operation; The vehicle resources reserved for the corresponding security task are invoked, and the control objects of the corresponding vehicle domain are controlled according to the takeover control parameters. The takeover execution information is generated based on the task identifier of the corresponding security task, the control object corresponding to the local takeover operation, the takeover time, the takeover control parameters, the execution result, and the actual resource usage information. In the event of an abnormal communication status between the corresponding domain controller and the cross-domain task management unit, the takeover execution information is stored, and after the communication status is restored to normal, the takeover execution information is sent to the cross-domain task management unit.

9. The system according to claim 8, characterized in that, The cross-domain task management unit is also used for: Based on the task identifier in the takeover execution information, determine the security task corresponding to the local takeover operation and the task association information corresponding to the security task; Based on the control object and execution result corresponding to the local takeover operation, determine the task impact information of the local takeover operation on the domain control tasks that have not yet been executed; Based on the task impact information, the domain control tasks that have achieved the corresponding control objectives through the local takeover operation are updated to the completed state, the domain control tasks that have control conflicts with the local takeover operation are revoked, and the task association information between the remaining domain control tasks is updated. Based on the updated domain control tasks and task association information, updated task execution information is generated and sent to the corresponding domain controller.

10. The system according to claim 9, characterized in that, The data acquisition unit is also used to acquire emergency status cancellation information for the corresponding vehicle domain; The cross-domain task management unit is also used to determine the task succession node from the remaining domain control tasks based on the emergency state lifting information, the takeover execution information and the updated task association information, generate takeover exit information including the task succession node and the updated task association information, and send the takeover exit information to the corresponding domain controller. The domain controller that performs the local takeover operation is also used to exit the local takeover state based on the takeover exit information; The domain controller that executes the task continuation node and subsequent domain control tasks is also used to continue executing the cross-domain collaborative task from the task continuation node according to the updated task association information; The vehicle resource management unit is also used to reclaim vehicle resources corresponding to completed or cancelled domain control tasks, and to reallocate the reclaimed vehicle resources according to the resource requirements of the remaining domain control tasks.

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