Domain control device and control system for controlling automatic console equipment

Abstract

The utility model discloses a domain control device and a control system for controlling automatic console equipment. The domain control device comprises a domain controller which is used for accessing the automatic bridge equipment and performing access control on the automatic bridge equipment; the networking module is connected with the communication interface of the domain controller and is used for accessing the domain controller to router equipment of an external preset local area network so as to allow the outside to call the domain controller through the preset local area network; and the networking module is connected with the debugging interface of the domain controller and is used for accessing the domain controller to node equipment of an external preset networking cluster so as to allow the outside to call the domain controller through the preset networking cluster. Through the above mode, the remote sharing control of the automatic driving bench equipment is realized, the utilization efficiency of the bench equipment and the research and development efficiency of automatic driving can be effectively improved, the acquisition cost and the maintenance cost of the equipment are reduced, and the possibility that the bench equipment is damaged in the moving, dismounting and mounting processes is reduced.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a domain control device and control system for controlling autonomous driving test bench equipment. Background Art

[0002] Traditional autonomous driving development typically involves building a simulated autonomous driving test bench to simulate a complete vehicle or specific functions, allowing for R&D and testing in an office environment. Under this development model, developers often place the test bench near their work area and establish hardware links to conduct R&D and testing.

[0003] However, when multiple developers need to share or alternately use autonomous driving test benches, they typically need to procure additional equipment and materials, resulting in additional acquisition costs and information synchronization. Furthermore, this sharing or alternating use also requires the tedious process of moving, disassembling, and configuring the autonomous driving test benches, which reduces testing efficiency, R&D efficiency, and test bench utilization, and increases the risk of hardware damage. Utility Model Content

[0004] This application mainly provides a domain control device and control system for controlling autonomous driving test bench equipment, aiming to solve the technical problem of low utilization efficiency of autonomous driving test bench equipment.

[0005] To solve the above technical problems, the technical solution adopted in this application is to provide a domain control device for controlling an autonomous driving platform device. The domain control device includes: a domain controller for accessing the autonomous driving platform device and performing access control on the autonomous driving platform device; a networking module connected to the communication interface of the domain controller and used to connect the domain controller to a router device of an external preset local area network, so as to allow external users to call the domain controller through the preset local area network; and a networking module connected to the debugging interface of the domain controller and used to connect the domain controller to a sub-node device of an external preset networking cluster, so as to allow external users to call the domain controller through the preset networking cluster.

[0006] In some embodiments, the networking module includes: a network adapter box, connected between the domain controller and the router device, for converting the in-vehicle Ethernet of the domain controller into industrial Ethernet, so as to connect the domain controller to the preset local area network through the router device.

[0007] In some embodiments, the domain control device further includes an industrial control chassis; the domain controller is integrated into the industrial control chassis and fixedly connected to the industrial control chassis via a heat conductor so as to dissipate heat outward through the industrial control chassis.

[0008] In some embodiments, the sub-node device is a Zhou Ligong device or a host computer device; the networking module also includes a preset connector, which is installed on the outside of the industrial control chassis and connected to the debugging interface of the domain controller to map the debugging interface to the preset connector, for externally connecting the Zhou Ligong device through the vehicle bus, or externally connecting the host computer device through a serial port debugging line.

[0009] In some embodiments, the domain control device further includes: an advanced technology extended power supply module, which is integrated into the industrial control chassis and connected to the power supply terminal of the domain controller for supplying power to the domain controller.

[0010] In some embodiments, the domain control device further includes: an air-cooling heat dissipation module, installed in the industrial control chassis, for dissipating heat from the domain controller in an air-cooling manner.

[0011] In some embodiments, the air-cooled heat dissipation module includes: heat dissipation fins, which are attached to the heating surface of the domain controller through thermal adhesive; at least one heat dissipation fan, the air inlet side of the heat dissipation fan is facing the domain controller, and the air outlet side of the heat dissipation fan is facing the outside of the industrial control chassis, which is used to dissipate heat from the domain controller in an air-cooled manner.

[0012] In order to solve the above technical problems, another technical solution adopted in this application is: providing a control system for controlling autonomous driving platform equipment, characterized in that the control system includes: at least one domain control device as described above for controlling autonomous driving platform equipment; a remote access subsystem, the remote access subsystem includes a communication-connected router device and several terminal devices, the router device is connected to a preset local area network, and is communication-connected with the networking module of the domain control device to allow the terminal device to call the domain controller of the domain control device through the preset local area network; a networking cluster subsystem, the networking cluster subsystem includes a core node device and at least one sub-node device connected to the core node device, the sub-node device establishes a communication connection with the networking module of at least one domain control device to allow the core node device to call the domain controller of the domain control device through the sub-node device.

[0013] In some embodiments, the networking cluster subsystem includes: a multi-port forwarder, the first port of the multi-port forwarder is connected to the core node device, at least one second port of the multi-port forwarder is connected one-to-one with at least one sub-node device, and the sub-node device establishes a communication connection with the core node device through the multi-port forwarder.

[0014] In some embodiments, the core node device is a host computer device, and the sub-node device is a Zhou Ligong device.

[0015] The beneficial effects of the present application are as follows: Different from the prior art, the present application discloses a domain control device and control system for controlling autonomous driving test bench equipment. By setting a networking module and a networking module in the domain control device, the present application can allow developers to remotely call the domain controller through a preset local area network or through a preset networking cluster to control access to the autonomous driving test bench equipment. Therefore, in the process of autonomous driving research and development, there is no need for additional movement and disassembly of autonomous driving test bench equipment, and remote shared control of autonomous driving test bench equipment is achieved, which can effectively reduce the time when the test bench equipment cannot be used for work, improve the utilization efficiency of the test bench equipment, and the fluency and convenience of the research and development process, thereby improving the research and development efficiency of autonomous driving, reducing the purchase cost and maintenance cost of the equipment, and reducing the possibility of damage to the test bench equipment during movement and disassembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive work, among which:

[0017] Figure 1 This is a structural diagram of an embodiment of a domain control device for controlling an autonomous driving test bench device provided by the present application;

[0018] Figure 2 yes Figure 1 A schematic structural diagram of an embodiment of a domain control device 100 in an embodiment;

[0019] Figure 3 This is a schematic structural diagram of an embodiment of a control system for controlling an autonomous driving test bench device provided by the present application;

[0020] Figure 4 yes Figure 3 A schematic structural diagram of an embodiment of a networking cluster subsystem 300 in an embodiment. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0022] The terms "first", "second" and "third" in the embodiments of the present application are only used for descriptive purposes and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second" and "third" may explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally also include steps or units that are not listed, or may optionally also include other steps or units that are inherent to these processes, methods, products or devices.

[0023] References to "embodiments" herein mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0024] This application provides a domain control device for controlling an autonomous driving test bench device. Figure 1 , Figure 1 This is a flow chart of an embodiment of a domain control device 100 for controlling an autonomous driving platform device provided by this application. The domain control device 100 includes: a domain controller 110, which is used to access the autonomous driving platform device and perform access control on the autonomous driving platform device; a networking module 120, which is connected to the communication interface of the domain controller 110 and is used to connect the domain controller 110 to a router device 210 of an external preset local area network, thereby allowing external users to call the domain controller 110 through the preset local area network; and a networking module 130, which is connected to the debugging interface of the domain controller 110 and is used to connect the domain controller 110 to a sub-node device 310 of an external preset networking cluster, thereby allowing external users to call the domain controller 110 through the preset networking cluster.

[0025] The autonomous driving test bench is a device used to simulate and test the performance and functions of autonomous driving vehicles, including various components in the vehicle related to the autonomous driving business being developed and components that simulate related environments. The autonomous driving test bench may optionally include a power system, a control system, an environmental simulation system, and various sensors for different autonomous driving R&D businesses. The domain controller 110 (DC) is a hardware platform used to control the corresponding functional domain of the autonomous driving test bench. By connecting the autonomous driving test bench to the domain controller 110, the autonomous driving test bench can be accessed and controlled through the domain controller 110, so that the autonomous driving test bench has autonomous driving functions corresponding to the functional domain of the autonomous driving task being developed.

[0026] Optionally, see Figure 2 The domain control device 100 further includes an industrial control chassis 140 ; ​​the domain controller 110 is integrated into the industrial control chassis 140 and is fixedly connected to the industrial control chassis 140 via a heat conducting member 141 so as to dissipate heat outwards through the industrial control chassis 140 .

[0027] The industrial control chassis 140 is a computer chassis specially designed for industrial environments. It has greater stability and durability and can adapt to harsh working environments, such as high temperature, high humidity, vibration and electromagnetic interference. The industrial control chassis 140 is usually made of metal material and has good shielding performance and heat dissipation capabilities. In the present application, the industrial control chassis 140 is used to accommodate the domain controller 110 and is fixedly connected to the industrial control chassis 140 through a heat conductor 141, wherein the heat conductor 141 is a component used to transfer heat from a heat source to a radiator or other heat dissipation device, usually made of metal, carbon silicon or composite material. The heat conductor 141 transfers the heat generated by the domain controller 110 to the outer casing of the industrial control chassis 140, thereby achieving effective outward heat dissipation and ensuring the stable and efficient operation of the domain controller 110. The heat conductor 141 can also better fix the domain controller 110, reducing the difficulty of building the domain control device 100.

[0028] The networking module 120 is a hardware or software component that enables network connectivity. Through the networking module 120, the domain controller 110 can access an external, pre-set local area network (LAN). The domain controller 110 can communicate with other devices within the pre-set LAN, thereby enabling remote access and control of the autonomous vehicle chassis equipment. The pre-set LAN is a pre-established network within a predetermined range, specifically a company intranet, department intranet, or workshop intranet. The networking module 120 can be a specific router, switch, or dedicated network device, as long as it can establish relay communication between the domain controller 110's onboard network and the pre-set LAN's industrial network.

[0029] Optionally, see Figure 2The networking module 120 includes a network adapter box 121, which is connected between the domain controller 110 and the router device 210 and is used to convert the vehicle Ethernet of the domain controller 110 into industrial Ethernet, so as to connect the domain controller 110 to the preset local area network through the router device 210.

[0030] The network adapter box 121 is a switching device based on the in-vehicle Ethernet (100BASE-T1) protocol, which can convert the in-vehicle Ethernet signal into the industrial Ethernet signal, thereby realizing communication between the domain controller 110 and the preset local area network, ensuring the stability and reliability of data transmission, and being compatible with different types of network protocols and interface standards. Specifically, the network adapter box 121 can be a T1 adapter box, which is a network adapter box 121 device specially designed to convert 100BASE-T1 in-vehicle Ethernet signals into industrial Ethernet signals. The volume of the T1 adapter box is also usually small, which can further reduce the space occupied by the domain control device 100. The T1 adapter box can support high-bandwidth and low-latency network communication, realize remote access and debugging of the test bench equipment, and ensure the real-time and accuracy of the autonomous driving test bench equipment during remote control and data transmission.

[0031] The networking module 130 is a hardware or software component for realizing communication between devices. Through the networking module 130, the domain controller 110 can access the external preset networking cluster, thereby realizing more extensive remote control and data exchange. Among them, the preset networking cluster usually includes multiple sub-node devices 310, and one or more core node devices. The core node device is connected to several sub-node devices 310 to communicate with the domain controller 110, or the core node device can also be directly connected to the domain control device for communication. The sub-node device 310 connected to the networking module 130 can specifically be a test device, a sensor and an actuator, etc., or it can be a server or other domain controller 110, etc., as long as it can communicate with the domain controller 110 and add the domain controller 110 to the preset networking cluster and control it through the core node device.

[0032] Through the networking module 130, the autonomous driving test bench equipment can be centrally managed and scheduled on the core node device, or the autonomous driving test bench equipment can be managed and controlled in the operational sub-node device 310 through a communication connection with the domain controller 110, thereby improving the flexibility and scalability of the entire system, and enabling networking cluster testing of multiple autonomous driving test bench equipment, greatly increasing the number of sample tests, and improving the efficiency of research and development and testing.

[0033] Optionally, the child node device 310 is a Zhou Ligong device or a host computer device.

[0034] The Zhou Ligong device is a test device specifically designed for autonomous driving R&D. It features a high degree of integration and flexible configuration, meeting the needs of diverse testing scenarios. The Zhou Ligong device typically includes a data acquisition module, a signal processing module, and an interface for communicating with the domain controller 110. It monitors and records the operating status and performance parameters of the autonomous driving test bench in real time. By communicating with the domain controller 110, the Zhou Ligong device transmits collected data to the domain controller 110 for further analysis and processing, thereby providing accurate test results for autonomous driving R&D.

[0035] The host computer device usually refers to a computer system used to monitor and manage the entire test process. During the R&D process, it is usually a personal computer (PC) of the R&D personnel or a dedicated computer dedicated to communicating with the domain controller 110. The host computer device has powerful computing power and rich software resources, and can perform real-time analysis and visualization of test data, providing R&D personnel with intuitive test results and decision support. The host computer device is connected to the communication interface of the domain controller 110, and can remotely control the operation of the autonomous driving test bench equipment, adjust test parameters, and perform specific test tasks.

[0036] Optionally, see Figure 2 The networking module 130 also includes a preset connector 131, which is installed on the outside of the industrial control chassis 140 and connected to the debugging interface of the domain controller 110 to map the debugging interface to the preset connector 131, which is used to connect to an external Zhou Ligong device through the vehicle bus, or to connect to an external host device through a serial port debugging line.

[0037] The pre-installed connector 131 is a component that includes interfaces or sockets of different communication standards. It is connected to the debug interface of different communication standards in the domain controller 110 and is installed on the outside of the industrial control chassis 140. For example, the pre-installed connector 131 can be connected to the debug port commonly used in autonomous driving R&D and testing, such as the CAN (Controller Area Network) bus interface, USB (Universal Serial Bus) interface, and RS-232 standard interface of the domain controller 110 through a wiring harness. The pre-installed connector 131 can map the debug interface to an external device, thereby achieving convenient connection with the Zhou Ligong device or the host device. Among them, for different R&D tasks, the pre-installed connector 131 sets different interface mappings to meet the interface requirements of different devices. For example, for the Zhou Ligong device, the pre-installed connector 131 can be connected through the vehicle bus to ensure the stability and real-time performance of data transmission, while for the host device, the pre-installed connector 131 can be connected through the serial port debug line to facilitate data exchange and remote control.

[0038] By setting up the pre-installed connector 131, external devices can communicate and disconnect with the domain controller 110 by plugging in, which greatly simplifies the device connection and maintenance process. R&D personnel do not need to frequently disassemble and reconnect the wiring harness. They only need to insert the external device into the pre-installed connector 131 to achieve a quick connection, which improves the work efficiency of R&D work and reduces equipment failure rate and maintenance costs.

[0039] Optionally, see Figure 2 The domain control device 100 also includes an advanced technology extended power supply module 150 , which is integrated into the industrial control chassis 140 and connected to the power supply terminal of the domain controller 110 for supplying power to the domain controller 110 .

[0040] The Advanced Technology Extended (ATX) power module 100 is designed specifically for high-performance computing devices. It features high energy efficiency and stability, providing stable voltage and current to the domain controller 110, ensuring its reliability during long-term operation. Since the domain controller 110 typically processes large amounts of data and performs complex computing tasks, it places high demands on power. Therefore, the ATX power module 150 is used to power the domain controller 110, meeting its power needs under high loads and providing stable and reliable power support.

[0041] The advanced technology expansion power module 150 is compact. By integrating it into the domain controller 100, the entire domain controller 100 can be made more compact, saving space and improving overall system stability. Furthermore, due to its excellent compatibility and scalability, the advanced technology expansion power module 150 can easily adapt to domain controllers 110 of different models and specifications, providing R&D personnel with more options and providing strong support for autonomous driving development.

[0042] Optionally, the domain control device 100 further includes an air-cooling heat dissipation module, which is installed in the industrial control chassis 140 and is used to dissipate heat from the domain controller 110 in an air-cooling manner.

[0043] While driving, an autonomous vehicle's power system, control system, and onboard equipment systems operate simultaneously, generating significant heat. Therefore, autonomous vehicles typically dissipate heat through complex and highly heat-dissipating water cooling methods. However, during autonomous vehicle test bench simulations, which typically only involve R&D testing of a subset of autonomous vehicle functions, the power consumption of the domain controller 110 typically does not reach extreme levels, resulting in relatively low heat generation. Water cooling is not a highly effective method for dissipating heat in autonomous test bench control. Furthermore, due to its high installation cost and poor adaptability, water cooling offers a very low cost-effectiveness. Air cooling, on the other hand, is more than sufficient to handle the heat generated by the controller.

[0044] In the present application, the air cooling method is implemented based on the air cooling heat dissipation module. Among them, the air cooling heat dissipation module is a heat dissipation module that uses air flow to take away heat, usually including components such as fans, heat sinks and heat conducting media, and has the advantages of simple structure, low cost and easy maintenance. The module is installed in the industrial control chassis 140, and the airflow generated by the fan transfers the heat generated by the domain controller 110 to the heat sink, and then the heat is dissipated into the air through the heat sink. On the basis that the air cooling method is sufficient to cope with the heat generated by the domain controller 110, the air cooling method has the characteristics of low cost, small size, simple maintenance, easy installation and high safety compared to the water cooling method. The use of the air cooling method in the domain control device 100 has higher cost performance and reliability, and can also further reduce the space occupation and construction difficulty of the domain control device 100.

[0045] Optionally, see Figure 2 The air-cooling heat dissipation module includes: heat dissipation fins 161, which are attached to the heating surface of the domain controller 110 through thermal adhesive; at least one heat dissipation fan 162, the air inlet surface of the heat dissipation fan 162 faces the domain controller 110, and the air outlet surface of the heat dissipation fan 162 faces the outside of the industrial control chassis 140, which is used to dissipate heat for the domain controller 110 in an air-cooling manner.

[0046] The heat sink 161 is a passive heat dissipation element, usually made of metal materials such as copper, aluminum or silver with good thermal conductivity, light weight and easy processing. It has high thermal conductivity and can quickly absorb heat from the surface of the domain controller 110. The heat sink 161 is attached to the heating surface of the domain controller 110 through thermal adhesive, and is in close contact with the domain controller 110, thereby improving the heat conduction efficiency. According to the shape of the heating surface of the domain controller 110, the heat sink 161 can adopt different shapes and arrangements to maximize the heat dissipation area, thereby improving the heat dissipation effect. The heat dissipation fan 162 is the power source in the air-cooled heat dissipation module, responsible for generating airflow. The air inlet side of the fan faces the domain controller 110, and can discharge the heat absorbed by the heat sink 161 to the outside of the industrial control chassis 140 through the air outlet surface, thereby avoiding heat accumulation inside the chassis and achieving heat dissipation of the domain controller 110.

[0047] Specifically, the thermal adhesive used to attach the heat sink fins 161 to the heating surface of the domain controller 110 can be silicone thermal adhesive, thermal grease, thermal gel, or thermal phase change material, etc. The heat sink fan 162 can be an 8025 fan, an 8015 fan, or an 8020 fan, etc., and can be used in particular for one or more. For example, three 8025 fans are usually sufficient to dissipate heat for the domain controller 110. The heat sink fan 162 can be powered by the aforementioned advanced technology expansion power module 150, or driven by a battery or motor. The fan speed can usually be adjusted by a control circuit to adapt to different heat dissipation requirements and reduce noise. Through the reasonable configuration and coordinated operation of the heat sink fins 161 and the heat sink fan 162, the air-cooled heat dissipation module can effectively provide heat dissipation for the domain controller 110, ensuring its stability and reliability during long-term operation.

[0048] Through the above-mentioned domain control device 100 for controlling the autonomous driving test bench equipment, there is no need for additional movement and disassembly of the autonomous driving test bench equipment during the research and development process of autonomous driving, and remote shared control of the autonomous driving test bench equipment is achieved. This can effectively reduce the time when the test bench equipment cannot be used for work, improve the utilization efficiency of the test bench equipment and the smoothness and convenience of the research and development process, thereby improving the research and development efficiency of autonomous driving, reducing the purchase cost and maintenance cost of the equipment, and reducing the possibility of damage to the test bench equipment during the movement and disassembly process.

[0049] See Figure 3 , Figure 3 It is a structural diagram of an embodiment of a control system for controlling an autonomous driving test bench device provided in this application.

[0050] The control system 400 includes at least one Figures 1 to 2The described domain control device 100 for controlling the autonomous driving test bench equipment; the remote access subsystem 200, the remote access subsystem 200 includes a router device 210 and a plurality of terminal devices 220 that are communicatively connected, the router device 210 is connected to a preset local area network, and is communicatively connected to the networking module 120 of the domain control device 100 to allow the terminal device 220 to call the domain controller 110 of the domain control device 100 through the preset local area network; the networking cluster subsystem 300, the networking cluster subsystem 300 includes a core node device 320 and at least one sub-node device 310 connected to the core node device 320, the sub-node device 310 establishes a communication connection with the networking module 130 of at least one domain control device 100 to allow the core node device 320 to call the domain controller 110 of the domain control device 100 through the sub-node device 310.

[0051] Based on the aforementioned domain control device 100 having the networking module 120 and the networking module 130, the domain control device 100 can be further combined with the remote access subsystem 200 and the networking cluster subsystem 300 to establish a control system 400 for controlling the autonomous driving test bench equipment.

[0052] In this system, the remote access subsystem 200 is designed to provide convenient remote access capabilities for relevant R&D personnel, enabling them to monitor and manage the operating status of autonomous driving test bench equipment in real time. A router device 210 connects the domain control device 100's individual offline network environment to a pre-set local area network (LAN). This allows terminal devices 220, such as computers, mobile phones, and tablets, within the pre-set LAN to connect to the domain controller 110 of the domain control device 100 via the network. Furthermore, a device for forwarding network signals from the domain controller 110 can be provided within the pre-set LAN of the remote access subsystem 200. This device converts LAN signals into data formats compatible with cellular, satellite, or Bluetooth communication methods for forwarding and transmission. This enables more flexible remote network connection control, allowing R&D personnel to remotely select the autonomous driving test bench equipment they need to monitor and conduct related R&D work, thereby improving R&D efficiency and convenience.

[0053] The networking cluster subsystem 300 can implement functions such as cluster control from the core node device 320, partial group control from the child node device 310, and communication transmission between domain control devices 100. In this networking cluster subsystem 300, the core node device 320 serves as the core of the entire networking cluster subsystem 300 and is responsible for coordinating and managing each child node device 310 and the domain control device 100. This enables centralized management and data monitoring of each domain control device 100, facilitating large-scale testing and data analysis. For example, the core node device 320 can power on and off multiple devices through packet broadcasting. Combined with serial port printing, it can monitor in real time whether the power-on and power-off processes of each device are normal. This is more flexible and easier to operate than the traditional direct power-off of the domain control. The child node device 310 serves as a bridge between the core node device 320 and the domain control device 100, responsible for transmitting the instructions of the core node device 320 to the domain control device 100, and feeding back the status and data of the domain control device 100 to the core node device 320 to ensure the stability and real-time performance of data transmission.

[0054] In actual applications, the core node device 320 and the sub-node device 310 can be high-performance industrial-grade computers with powerful data processing capabilities and stable operating performance. At the same time, to ensure high system availability and fault tolerance, the core node device 320 and the sub-node device 310 can adopt a redundant design to ensure that the system can continue to operate normally even if some equipment fails. In addition, the control system 400 can also integrate advanced monitoring and diagnostic systems to monitor the operating status of each domain control device 100 and node device in real time, promptly identifying and addressing potential problems. Through the real-time monitoring system, R&D personnel can intuitively understand the operating status of the autonomous driving test bench equipment, adjust test plans and parameters in a timely manner, and improve R&D efficiency. In terms of system security, the control system 400 can adopt multi-layered security protection measures, including but not limited to network firewalls, data encryption transmission, access control, etc., to ensure system data security and device security. The networking cluster subsystem 300 can also set up regular security checks and vulnerability scans to promptly identify and fix security vulnerabilities, ensuring the safe and stable operation of the entire autonomous driving test bench equipment.

[0055] Optionally, the core node device 320 is a host computer device, and the child node device 310 is a Zhouligong device.

[0056] In the networking cluster subsystem 300, the core node device 320 needs to be a computer system with powerful computing capabilities and rich interfaces, responsible for the overall scheduling and management of the entire system, capable of processing responsible computing tasks, and having the ability to communicate with external devices. Therefore, the host computer device can be used as the core node device 320. The host computer device used can specifically be a personal computer, a server, or a dedicated industrial computer. The host computer device usually has powerful data processing capabilities, rich interfaces, and stable operating performance. It is usually also equipped with a display screen for visual presentation of data. Therefore, it can usually meet the needs of core node tasks such as data processing and real-time monitoring during the testing and development of autonomous driving test bench equipment.

[0057] The sub-node device 310 is a node device that needs to be used in conjunction with the core node device 320. The computing power requirement is lower than that of the core node device 320, but it needs to have good communication capabilities and stability. The Zhou Ligong device is a common industrial-grade device, usually used for tasks such as data acquisition, processing and transmission. It has high reliability and anti-interference capabilities and is suitable for use in harsh industrial environments. The Zhou Ligong device can exchange data efficiently with the core node device 320 to ensure the real-time and accuracy of information. Therefore, in the networking cluster subsystem 300, using the Zhou Ligong device as the sub-node device 310 can effectively meet the requirements for its communication efficiency and stability during the testing and development of autonomous driving bench equipment.

[0058] By using the host computer device as the core node device 320 and the Zhou Ligong device as the child node device 310, combined with the use of the multi-port forwarder 330, the networking cluster subsystem 300 has better performance and stability, simplifies wiring and maintenance work, enhances the scalability and security of the system, and can effectively improve the testing and R&D efficiency of the autonomous driving test bench equipment.

[0059] Optionally, see Figure 4 , Figure 4 1 is a schematic diagram of the structure of an embodiment of a networking cluster subsystem 300 provided in this application. The networking cluster subsystem 300 includes a multi-port forwarder 330, wherein a first port of the multi-port forwarder 330 is connected to a core node device 320, and at least one second port of the multi-port forwarder 330 is connected in a one-to-one correspondence with at least one sub-node device 310. The sub-node device 310 establishes a communication connection with the core node device 320 through the multi-port forwarder 330.

[0060] The multi-port forwarder 330 is a device used for efficient data forwarding and network expansion. It can be a hub, switch, or router. In this solution, the multi-port forwarder 330 preferably uses a USB hub to meet the interface requirements of the domain control device 100. The USB hub can effectively prevent interference with other lines caused by problems with some domain control devices 100 or sub-node devices 310, thereby improving the system's fault tolerance and scalability, allowing access to more sub-node devices 310 and domain control devices 100. In addition, the combination of the USB hub and sub-node device 310 can simulate the control of multiple domain control devices 100 by the same core node device 320. For example, this combination can be used to verify basic CAN message wake-up functionality. Compared with single-vehicle NM (Network Management) sleep / wake-up stress testing, the use of a multi-port forwarder can effectively improve the efficiency of the corresponding business and reduce the labor cost of the corresponding business.

[0061] The multi-port forwarder 330 can efficiently distribute the signal of the core node device 320 to each sub-node device 310. Figure 4 Take three sub-node devices as an example. Through the use of the multi-port repeater 330, the delay and bottleneck of signaling transmission between the core node device and the sub-node device can be effectively reduced, ensuring the rapid transmission of signaling. At the same time, the multi-port repeater 330 can reduce the complexity of wiring, making the wiring of the entire networking cluster subsystem 300 more concise and clear. When a sub-node device 310 needs maintenance or replacement, it can be quickly disconnected without affecting the normal operation of other devices. In addition, the multi-port repeater 330 also makes the system more flexible when adding or reducing sub-node devices 310. By increasing or reducing the number of ports of the USB hub, the scale of the system can be easily expanded or reduced to adapt to different testing needs, making the management and control of autonomous driving test bench equipment more convenient and efficient, and further improving the testing and R&D efficiency of autonomous driving test bench equipment.

[0062] Different from the existing technology, the present application discloses a domain control device and control system for controlling autonomous driving test bench equipment. By setting a networking module and a networking module in the domain control device, it is possible to allow developers to remotely call the domain controller through a preset local area network or through a preset networking cluster to control access to the autonomous driving test bench equipment. Therefore, during the research and development of autonomous driving, there is no need for additional movement and disassembly of autonomous driving test bench equipment, and remote shared control of autonomous driving test bench equipment is achieved, which can effectively reduce the time that the test bench equipment cannot be used for work, improve the utilization efficiency of the test bench equipment, and the smoothness and convenience of the research and development process, thereby improving the research and development efficiency of autonomous driving, reducing the purchase cost and maintenance cost of the equipment, and reducing the possibility of damage to the test bench equipment during the movement and disassembly process.

[0063] The various embodiments in this specification are described in a progressive manner. Similar parts between the various embodiments can be referenced to each other. Each embodiment focuses on the differences from other embodiments. In particular, the control system embodiment is generally similar to the domain control device embodiment, so its description is relatively simple. For relevant parts, refer to the description of the domain control device embodiment.

[0064] The present application can be used in a wide variety of general-purpose or specialized computing system environments or configurations, such as personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, and distributed computing environments that include any of the above.

[0065] In the several embodiments provided in this application, it should be understood that the disclosed domain control device and control system can be implemented in other ways. For example, the above-described implementation of the domain control device and control system is merely illustrative. For example, the division of modules or units is merely a logical functional division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of this implementation scheme.

[0066] In addition, each functional unit in each embodiment of the present application may be integrated into a processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The above-mentioned integrated units may be implemented in the form of hardware or software functional units.

[0067] The above description is merely an embodiment of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A domain control device for controlling an autonomous driving test bench, characterized in that: The domain control device includes: A domain controller, configured to access the autonomous driving platform device and perform access control on the autonomous driving platform device; A networking module, connected to the communication interface of the domain controller, for connecting the domain controller to a router device of an external preset local area network, so as to allow external access to the domain controller through the preset local area network; The networking module is connected to the debugging interface of the domain controller and is used to connect the domain controller to a sub-node device of an external preset networking cluster to allow the external to call the domain controller through the preset networking cluster.

2. The domain control device for controlling an autonomous driving platform device according to claim 1, characterized in that: The networking module includes: A network adapter box is connected between the domain controller and the router device, and is used to convert the vehicle Ethernet of the domain controller into industrial Ethernet, so as to connect the domain controller to the preset local area network through the router device.

3. The domain control device for controlling an autonomous driving platform device according to claim 1, characterized in that: The domain control device also includes an industrial control chassis; The domain controller is integrated into the industrial control chassis and is fixedly connected to the industrial control chassis via a heat conducting member so as to dissipate heat outwards through the industrial control chassis.

4. The domain control device for controlling the autonomous driving platform equipment according to claim 3, characterized in that: The sub-node device is a Zhou Ligong device or a host computer device; The networking module also includes a preset connector, which is installed on the outside of the industrial control chassis and connected to the debugging interface of the domain controller to map the debugging interface to the preset connector, and is used to connect the Zhou Ligong device externally through the vehicle bus, or to connect the host computer device externally through the serial port debugging line.

5. The domain control device for controlling the autonomous driving platform equipment according to claim 3, characterized in that: The domain control device further includes: The advanced technology extended power supply module is integrated in the industrial control chassis and connected to the power supply terminal of the domain controller to supply power to the domain controller.

6. The domain control device for controlling the autonomous driving platform equipment according to claim 3, characterized in that: The domain control device further includes: The air-cooling heat dissipation module is installed in the industrial control chassis and is used to dissipate heat from the domain controller in an air-cooling manner.

7. The domain control device for controlling the autonomous driving platform equipment according to claim 6, characterized in that: The air-cooling heat dissipation module includes: heat sink fins, attached to the heat-generating surface of the domain controller via thermally conductive adhesive; At least one cooling fan, with an air inlet facing the domain controller and an air outlet facing the outside of the industrial control chassis, for cooling the domain controller in an air-cooled manner.

8. A control system for controlling an automatic driving test bench device, characterized in that: The control system includes: At least one domain control device for controlling an autonomous driving platform device according to any one of claims 1 to 7; a remote access subsystem comprising a communicatively connected router device and a plurality of terminal devices, wherein the router device is connected to a preset local area network and is communicatively connected to the networking module of the domain control device to allow the terminal device to call the domain controller of the domain control device via the preset local area network; A networking cluster subsystem, the networking cluster subsystem includes a core node device and at least one sub-node device connected to the core node device, the sub-node device establishes a communication connection with a networking module of at least one of the domain control devices to allow the core node device to call the domain controller of the domain control device through the sub-node device.

9. The control system for controlling the automatic driving platform equipment according to claim 8, characterized in that: The networking cluster subsystem includes: A multi-port forwarder, wherein the first port of the multi-port forwarder is connected to the core node device, and at least one second port of the multi-port forwarder is connected one-to-one with at least one sub-node device, and the sub-node device establishes a communication connection with the core node device through the multi-port forwarder.

10. The control system for controlling the automatic driving platform equipment according to claim 8, characterized in that: The core node device is a host computer device, and the sub-node device is a Zhou Ligong device.

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