Vehicle control method, device, memory medium and electronic device

Abstract

To provide a vehicle control method, a device, a memory medium and an electronic device which can avoid control of intelligent driving from becoming uncontrollable, and thereby can secure traveling safety.TECHNICAL MEANS: A vehicle control method, which is used for a vehicle equipped with a first chip for supporting an intelligent driving function and a second chip for supporting at least an intelligent cockpit function, includes the steps of: determining a current state of the first chip; in response to the current state being a first state, controlling a traveling state of the vehicle using the first chip; and, in response to the current state being a second state, controlling the traveling state of the vehicle using the second chip.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to driving technology, and in particular to a vehicle control method, device, storage medium, and electronic device. [Background technology]

[0002] With the development of driving technology, the main driver of driving is shifting from humans to intelligent driving systems. Intelligent driving chips are an important component of intelligent driving systems. Once the intelligent driving chips do not work properly, intelligent driving will become uncontrollable, which will affect driving safety. Summary of the Invention [Problem to be solved by the invention]

[0003] The present disclosure provides a vehicle control method, device, storage medium, and electronic device for avoiding loss of control of intelligent driving and ensuring driving safety. [Means for solving the problem]

[0004] According to one aspect of an embodiment of the present disclosure, a vehicle control method for a vehicle including a first chip for supporting an intelligent driving function and a second chip for supporting at least an intelligent cockpit function includes: determining a current state of the first chip; controlling a running state of the vehicle by the first chip in response to the current state being a first state; and controlling the driving state of the vehicle by the second chip in response to the current state being the second state.

[0005] A vehicle control device according to another aspect of the embodiment of the present disclosure includes: The first chip to support intelligent driving functions; a second chip to support at least intelligent cockpit functions; and The vehicle further includes a driven module for controlling the running state of the vehicle under the drive of the first chip in response to the current state of the first chip being a first state, and for controlling the running state of the vehicle under the drive of the second chip in response to the current state of the first chip being a second state.

[0006] According to yet another aspect of the embodiment of the present disclosure, a vehicle control device for a vehicle including a first chip for supporting an intelligent driving function and a second chip for supporting at least an intelligent cockpit function includes: a determination module for determining a current state of the first chip; a first control module for controlling a driving state of the vehicle by the first chip in response to the current state determined by the determination module being a first state; and a second control module for controlling the running state of the vehicle by the second chip in response to the current state determined by the determination module being a second state.

[0007] A computer-readable storage medium according to yet another aspect of the embodiment of the present disclosure stores a computer program for executing the above vehicle control method.

[0008] According to yet another aspect of the present disclosure, there is provided an electronic device including a processor and a memory for storing instructions executable by the processor, The processor reads the executable instructions from the memory and executes them to implement the vehicle control method.

[0009] A computer program product according to yet another aspect of the embodiment of the present disclosure performs the above vehicle control method when instructions therein are executed by a processor. Effect of the Invention

[0010] According to the vehicle control method, device, storage medium, electronic device, and program product according to the above embodiments of the present disclosure, the first chip can be regarded as a master chip, and the second chip can be regarded as a slave chip. When the master chip can operate normally, the master chip can control the running state of the vehicle, and when the master chip cannot operate normally, the slave chip can control the running state of the vehicle. In this way, by utilizing the hot backup strategy to effectively control the running state of the vehicle, it is possible to avoid uncontrollable intelligent driving and ensure driving safety. In addition, in the embodiments of the present disclosure, the master chip is a chip for specially supporting the automatic driving function, and the slave chip is not a chip for specially supporting the automatic driving function, but is a chip for at least supporting the intelligent cockpit function. That is, in the embodiments of the present disclosure, hot backup can be achieved by multiplexing the chips related to the intelligent cockpit function, so that it is possible to avoid uncontrollable intelligent driving and ensure driving safety at low cost. [Brief description of the drawings]

[0011] [Figure 1] 1 is a schematic flow chart of a vehicle control method according to some exemplary embodiments of the present disclosure. [Diagram 2] 10 is a schematic flowchart of a vehicle control method according to some further exemplary embodiments of the present disclosure. [Diagram 3] 11 is a schematic flowchart of a vehicle control method according to still further exemplary embodiments of the present disclosure. [Figure 4] 11 is a schematic flowchart of a vehicle control method according to still other exemplary embodiments of the present disclosure. [Diagram 5] 11 is a schematic flowchart of a vehicle control method according to still further exemplary embodiments of the present disclosure. [Figure 6]FIG. 1 is a schematic structural diagram of a vehicle control device according to some exemplary embodiments of the present disclosure. [Figure 7] FIG. 2 is a schematic structural diagram of a vehicle control device according to some other exemplary embodiments of the present disclosure. [Figure 8] FIG. 13 is a schematic structural diagram of a vehicle control device according to still another exemplary embodiment of the present disclosure. [Figure 9] FIG. 2 is a schematic structural diagram of a first control module in some exemplary embodiments of the present disclosure. [Figure 10] FIG. 13 is a schematic structural diagram of a vehicle control device according to still another exemplary embodiment of the present disclosure. [Figure 11] FIG. 1 is a schematic structural diagram of an electronic device according to some example embodiments of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] In order to interpret the present disclosure, exemplary embodiments of the present disclosure will be described in detail below with reference to the drawings. Also, the described embodiments are only some of the embodiments of the present disclosure, and are not all of the embodiments, and the present disclosure is not limited to the exemplary embodiments.

[0013] Unless otherwise stated, the relative arrangement of components and steps, formulas, and values ​​described in these examples are not intended to limit the scope of the present disclosure.

[0014] (Application Summary) The intelligent driving dedicated chip is an important component of the intelligent driving system. The intelligent driving dedicated chip can be a chip specialized for supporting intelligent driving functions.

[0015] In addition, once the intelligent driving chip does not operate normally due to software and / or hardware abnormality, the intelligent driving becomes uncontrollable, affecting driving safety. For example, the intelligent driving chip may not be able to accurately recognize an obstacle too close in front of the vehicle and perform autonomous emergency braking (AEB) due to software and / or hardware abnormality, which may cause the vehicle to collide with the obstacle. In addition, the intelligent driving chip may not be able to accurately recognize the signal of a traffic light in front of the vehicle due to software and / or hardware abnormality, which may cause the vehicle to ignore a red light.

[0016] How to avoid the loss of control of intelligent driving and ensure driving safety is a topic worthy of attention for those skilled in the art.

[0017] (Example System) In computer systems, backup is an important and necessary task. Hot backup, as a specific type of backup, is to back up the system while it is in operation, thereby ensuring the continuity and availability of the system. In the embodiment of the present disclosure, a hot backup strategy can be utilized to control the running state of the vehicle to avoid the loss of control of intelligent driving, thereby ensuring the safety of driving.

[0018] Exemplary Methods An embodiment of the present disclosure provides a vehicle control method. The vehicle in the embodiment of the present disclosure may be provided with a first chip and a second chip. The first chip may support an intelligent driving function, and the second chip may support at least an intelligent cockpit function.

[0019] Optionally, the first chip can be a chip specialized for supporting intelligent driving functions, and thus the first chip can be a chip dedicated to intelligent driving.

[0020] Optionally, the second chip can be a chip specialized for supporting intelligent cockpit functions, so that the second chip can be an intelligent cockpit chip, or the second chip can be a chip specialized for supporting intelligent driving functions and intelligent cockpit functions, so that the second chip can be a cockpit-driving integrated chip.

[0021] The intelligent driving function includes three parts: a sensing function, a planning function, and a control function. The sensing function can be used to sense the environment around the vehicle (e.g., roads, static objects, dynamic objects, etc.). Static objects can include, for example, buildings, traffic lights, etc. Dynamic objects can include, for example, obstacles such as pedestrians, motorcycles, other vehicles, etc. The planning function can be used to plan, for example, whether to brake, whether to turn, whether to slow down, etc., according to the task requirements of the intelligent driving, or to plan an optimal driving route. The control function can be used to control the actuators of the vehicle to realize operations such as braking, turning, and slowing down of the vehicle.

[0022] The intelligent cockpit function can be a function for realizing interaction between humans and vehicles in the cockpit of a vehicle, interconnection between the vehicle and the outside world, etc. By utilizing the intelligent cockpit function, different needs of humans in a vehicle (such as needs for listening to music or listening to the radio, and further, needs for observing road conditions, etc.) can be met through intelligent means, thereby providing a more intelligent and safe interaction experience.

[0023] 1 is a schematic flow chart of a vehicle control method according to some exemplary embodiments of the present disclosure. The method shown in FIG. 1 may include steps 110, 120, and 130.

[0024] In step 110, the current state of the first chip is determined.

[0025] Selectably, the hardware and software of the first chip can be detected periodically or irregularly to determine the current state (which may also be referred to as the "current operating state") of the first chip. There are two cases of the current state of the first chip: a first state and a second state. The first state is a state in which both the hardware and software of the first chip can operate normally, which may also be referred to as a normal state or a usable state. The second state is a state in which the hardware and / or software of the first chip cannot operate normally, which may also be referred to as an abnormal state or a disabled state.

[0026] Here, the above step 110 can be performed by the vehicle control unit, that is, the first chip determines its own current operating state and generates corresponding state indicating information, and the vehicle control unit can determine the current operating state of the first chip according to the state indicating information generated by the first chip.

[0027] In step 120, in response to the current state being the first state, the first chip controls the running state of the vehicle.

[0028] In step 130, in response to the current state being the second state, the second chip controls the running state of the vehicle.

[0029] Selectively, when the current state of the first chip is a first state, both the software and hardware of the first chip can operate normally, so the first chip can normally control the running state of the vehicle, and the second chip can control the cockpit of the vehicle. When the current state of the first chip is a second state, the software and / or hardware of the first chip cannot operate normally, so the first chip does not control the running state of the vehicle, and the second chip can normally control the running state of the vehicle (which may also be called the "driving state").

[0030] Here, the above steps 120 to 130 can be executed by the vehicle control unit. That is, when the current operating state of the first chip is an available state, the vehicle control unit can receive a first control command output from the first chip and control the driving state of the vehicle based on the first control command. When the current operating state of the first chip is an unavailable state, the vehicle control unit can receive a second control command output from the second chip and control the driving state of the vehicle based on the second control command.

[0031] Optionally, when the current operating state of the first chip is a disabled state, the vehicle control unit outputs state indication information corresponding to the disabled state to the second chip in response to the current operating state being the disabled state, so that the second chip determines that the first chip is in the disabled state and outputs a second control command, and the vehicle control unit receives the second control command output from the second chip and controls the driving state of the vehicle based on the second control command.

[0032] Selectively, controlling the vehicle's driving state may include, for example, controlling the vehicle's driving path, speed, acceleration, etc., controlling whether or not the vehicle brakes, whether or not to turn, etc. Controlling the vehicle's cockpit may include, for example, controlling the display content of a control panel and / or a meter panel in the vehicle's cockpit, and controlling whether or not to play video and / or audio in the vehicle's cockpit.

[0033] In the embodiment of the present disclosure, the first chip can be regarded as a master chip, and the second chip can be regarded as a slave chip. When the master chip can operate normally, the master chip can control the running state of the vehicle, and when the master chip cannot operate normally, the slave chip can control the running state of the vehicle. In this way, the hot backup strategy can be utilized to effectively control the running state of the vehicle, avoid uncontrollable intelligent driving, and ensure driving safety. In addition, in the embodiment of the present disclosure, the master chip can be a chip for specially supporting the automatic driving function, and the slave chip can be a chip for at least supporting the intelligent cockpit function, rather than a chip for specially supporting the automatic driving function. That is, in the embodiment of the present disclosure, the hot backup can be achieved by multiplexing the chips related to the intelligent cockpit function, so that uncontrollable intelligent driving can be avoided at low cost and driving safety can be ensured.

[0034] 2 is a schematic flow chart of a vehicle control method according to some exemplary embodiments of the present disclosure. The method shown in FIG. 2 may include steps 210, 220, and 230. Optionally, step 230 may be an optional embodiment of step 130 of the present disclosure.

[0035] In step 210, the second chip acquires the first sensor data.

[0036] Optionally, the vehicle may be provided with sensor equipment to assist in sensing the environment. The sensor equipment may include N sensors, where N may be an integer equal to or greater than 2. The N sensors may include, but are not limited to, a camera, a radar, a positioning sensor, and the like. By way of example, the camera may be a single-lens camera or a dual-lens camera, the radar may be a laser radar or a millimeter-wave radar, and the positioning sensor may be a positioning sensor based on a Global Navigation Satellite System (GNSS) or a Global Positioning System (GPS).

[0037] Optionally, the second chip can periodically or irregularly acquire data currently collected by each of the N sensors, which can constitute first sensor data. By way of example, the first sensor data can include image data corresponding to a camera, point cloud data corresponding to a radar, positioning data corresponding to a positioning sensor, etc.

[0038] That is, one or more of the N sensors is referred to as a first sensor, and the second chip acquires data collected by the first sensor and the data is referred to as first sensor data.

[0039] In step 220, the second chip generates a first environmental sensing result based on the first sensor data.

[0040] Optionally, the second chip may process the first sensor data with an environmental sensing algorithm to obtain a first environmental sensing result. For example, the second chip may fuse data corresponding to different sensors among the first sensor data and generate a first environmental sensing result based on the fusion result. Or, the second chip may process data corresponding to different sensors among the first sensor data respectively to obtain environmental sensing results respectively corresponding to the different sensors, and then fuse the environmental sensing results respectively corresponding to the different sensors to obtain the first environmental sensing result.

[0041] Selectably, the first environmental sensing result may include environmental sensing results corresponding to a road, a static object, and a dynamic object, respectively. The environmental sensing result corresponding to a road may include the type of the road (e.g., whether it is a highway or a city road), the number of lanes the road includes, etc. The environmental sensing result corresponding to a static object may include the distance between a building and the vehicle, the state of a traffic light (e.g., whether it is red or green), etc. The environmental sensing result corresponding to a dynamic object may include the position, type, speed, action, etc. of obstacles around the vehicle.

[0042] In step 230, in response to the current state being the second state, the second chip controls the running state of the vehicle based on the first environmental sensing result.

[0043] Optionally, when the current state of the first chip is the second state, the first chip may not control the running state of the vehicle, and the second chip may control the running state of the vehicle, and the second chip may use the first environmental sensing result as a basis for controlling the running state of the vehicle. For example, when the first environmental sensing result indicates that the vehicle is running on a highway, the second chip may control the speed of the vehicle so that the speed of the vehicle is within an allowable speed range. Furthermore, for example, when the first environmental sensing result indicates that an obstacle is too close ahead of the vehicle, the second chip may control the vehicle to automatically apply emergency braking.

[0044] Here, the above step 230 can be performed by the vehicle control unit, that is, when the current operating state of the first chip is disabled, the vehicle control unit receives the second control command generated by the second chip based on the first environment sensing result, and controls the driving state of the vehicle based on the second control command.

[0045] In the embodiment of the present disclosure, when the second chip starts to operate, it can start to sense the environment. Once the first chip cannot operate normally, the second chip directly controls the running state of the vehicle based on the existing environment sensing result (i.e., the first environment sensing result). In this way, it is advantageous to ensure seamless switching of intelligent driving and ensure driving safety.

[0046] In some embodiments, the second chip may also initiate environmental sensing if the current state of the first chip is the second state.

[0047] In some alternative embodiments, step 220 includes: generating a first environment sensing result based on first data corresponding to the first sensor among the first sensor data by the second chip in response to the current state being the first state; Or, In response to the current state being the second state, the second chip generates a first environmental sensing result based on all of the first sensor data.

[0048] Optionally, a sensor important for environmental sensing is determined as a first sensor from among N sensors included in the sensor device. For example, the N sensors may be six cameras including a front view camera, a left front view camera, a right front view camera, a rear view camera, a left rear view camera, and a right rear view camera, and the first sensor may include only the front view camera and the rear view camera. When the current state of the first chip is the first state, data corresponding to the first sensor may be selected from the first sensor data and set as the first data. The second chip may process the first data with an environmental sensing algorithm to obtain a first environmental sensing result. When the first chip can operate normally, the first environmental sensing result generated by the second chip is not actually used for decision making and control related to intelligent driving, so that in the process of the second chip generating the first environmental sensing result, only a part of the first sensor data (i.e., the first data) may be used, which is advantageous for saving resources and power consumption.

[0049] Here, the second chip can receive state indication information output from the vehicle control unit to determine the current operating state of the first chip.

[0050] That is, when the current operating state of the first chip is the available state, the second chip does not receive the state indication information corresponding to the unavailable state. In this case, the second chip acquires the first quantity of data collected by the first sensor (i.e., a part of the first sensor data).

[0051] Optionally, when the current state of the first chip is the second state, the second chip can process all data of the first sensor data through the environment sensing algorithm to obtain a first environment sensing result. When the first chip cannot operate normally, the first environment sensing result generated by the second chip is actually used for decision-making and control related to intelligent driving, so that in the process of the second chip generating the first environment sensing result, all data of the first sensor data can be used, in this way, the data used in the process of the second chip generating the first environment sensing result is abundant and comprehensive, which is favorable to ensuring the accuracy and reliability of the obtained first environment sensing result, and thus is favorable to ensuring the reliability of intelligent driving.

[0052] That is, when the current operating state of the first chip is the disabled state, the second chip receives the state indication information corresponding to the disabled state. In this case, the second chip acquires a second quantity of data collected by the first sensors, the second quantity being greater than the first quantity. Here, the second quantity can be the total number of the first sensors, in which case, the second chip acquires all of the data collected by the first sensors (i.e., all of the first sensor data).

[0053] 3 is a schematic flowchart of a vehicle control method according to further exemplary embodiments of the present disclosure. The method shown in FIG. 3 may include steps 310, 320, and 330. Optionally, a combination of steps 310 to 330 may be an optional embodiment of step 120 of the present disclosure.

[0054] In step 310, in response to the current state being the first state, the first chip obtains second sensor data and generates a second environmental sensing result based on the second sensor data.

[0055] Optionally, the vehicle may be provided with a sensor device for assisting in environmental sensing. The sensor device may include N sensors (which may also be referred to as "second sensors"), where N may be an integer equal to or greater than 2. When the current state of the first chip is the first state, the first chip may periodically or irregularly acquire data currently collected by each of the N sensors, and these data may constitute second sensor data. The first chip may also generate a second environmental sensing result based on the second sensor data. The method for generating the second environmental sensing result and the configuration of the second environmental sensing result may both refer to the relevant introduction of the first environmental sensing result above, and detailed description will be omitted here.

[0056] In step 320, the second environmental sensing result is verified based on the first environmental sensing result to obtain a verification result.

[0057] Optionally, a similarity between the first and second environmental sensing results may be determined by a similarity algorithm. If the determined similarity is greater than a preset similarity, the verification result indicates that the verification of the second environmental sensing result has been passed. If the determined similarity is equal to or less than the preset similarity, the verification result indicates that the verification of the second environmental sensing result has been failed. By way of example, the preset similarity may be 75%, 80%, 85%, etc., and is not listed here.

[0058] That is, the first chip can be connected to the second chip via an Ethernet interface or the like to receive the first environmental sensing result output from the second chip. Then, the first chip can verify the second environmental sensing result based on the first environmental sensing result output from the second chip. Or, the second chip can store the first environmental sensing result in a register and trigger an interrupt signal to the first chip, causing the first chip to read the first environmental sensing result from the register.

[0059] In some embodiments, the magnitude of the determined similarity and the preset similarity may not be compared, but a ratio between the determined similarity and the preset similarity may be calculated. If the calculated ratio is greater than the preset ratio, the verification result indicates that the verification of the second environmental sensing result is passed. If the calculated ratio is equal to or less than the preset ratio, the verification result indicates that the verification of the second environmental sensing result is unsuccessful. For example, the preset ratio may be 0.8, 0.85, 0.9, etc., and is not listed here.

[0060] In step 330, in response to the verification result indicating that the verification of the second environmental sensing result is passed, the first chip controls the running state of the vehicle based on the second environmental sensing result.

[0061] Optionally, for the method of controlling the running state of the vehicle by the first chip based on the second environmental sensing result, please refer to the relevant introduction of step 230 above, and detailed description will be omitted here.

[0062] In addition, since the first environmental sensing result and the second environmental sensing result are both obtained by performing environmental sensing on the vehicle, the first environmental sensing result and the second environmental sensing result are theoretically consistent. In view of this, the first environmental sensing result and the second environmental sensing result can be compared to determine whether the first environmental sensing result and the second environmental sensing result actually match, and then it can be determined whether the second environmental sensing result has passed verification. For example, if the similarity between the first environmental sensing result and the second environmental sensing result is high, it can be determined that the second environmental sensing result has passed verification. If the verification of the second environmental sensing result is passed, it can be determined that the accuracy of the second environmental sensing result meets the requirements, and the second environmental sensing result whose accuracy meets the requirements is used to control the running state of the vehicle, which is advantageous to ensuring running safety.

[0063] That is, when the verification result indicates that the verification of the second environment sensing result is passed, the first chip generates a first control command based on the second environment sensing result and outputs the first control command, so that the vehicle control unit receives the first control command output from the first chip and controls the driving state of the vehicle according to the first control command.

[0064] Based on the embodiment shown in FIG. 1, the method according to the embodiment of the present disclosure may further include step 410, as shown in FIG.

[0065] In step 410, in the process of controlling the running state of the vehicle by the second chip, in response to the first resource of the second chip being in an idle state, the first resource of the second chip controls the cockpit of the vehicle.

[0066] Optionally, the second chip may be a high-performance system-on-a-chip (SOC) and may have sufficient resources, e.g., the second chip may have sufficient hardware and software resources.

[0067] Selectively, when the current state of the first chip is an unavailable state, the intelligent cockpit function of the second chip can be restricted, and the resources (hardware resources) of the second chip can be preferentially provided to control the driving state of the vehicle. When the resources of the second chip are not entirely occupied in the process of the second chip controlling the driving state of the vehicle, these unoccupied resources are the first resources in the idle state of the second chip. For example, when 80% of the resources of the second chip are occupied in the process of the second chip controlling the driving state of the vehicle, the unoccupied 20% of the resources can be the first resources in the idle state of the second chip. Then, the cockpit of the vehicle can be controlled by the first resource of the second chip. In this way, the intelligent cockpit function can be used while the intelligent driving function is used, and the resources and computing power of the second chip can be more fully used, thereby improving the user's usage experience.

[0068] That is, when the current operating state of the first chip is an unavailable state, the second chip generates and outputs a second control command based on a second resource (a resource provided preferentially to the second chip for controlling the driving state of the vehicle) and generates and outputs a second cockpit control command based on the first resource. The vehicle control unit can control the driving state of the vehicle based on the second control command and control the cockpit of the vehicle based on the second cockpit control command. The second chip can also directly control the cockpit of the vehicle based on the second cockpit control command. The second cockpit control command can be used to realize some sub-functions in the cockpit control function. Here, the second resource and the first resource form all the resources of the first chip.

[0069] Optionally, when the current operating state of the first chip is an enabled state, the first chip outputs a first control command, and the vehicle control unit uses the first control command to realize the intelligent driving function, in this case, the second chip can output a first cockpit control command, and the vehicle control unit receives the first cockpit control command generated by the second chip, and controls the vehicle's cockpit based on the first cockpit control command to realize the cockpit control function.

[0070] Based on the embodiment shown in FIG. 1, the method according to the embodiment of the present disclosure may further include step 510 and step 520, as shown in FIG.

[0071] In step 510, in response to the current state being the second state, the first chip is restarted.

[0072] Optionally, if the current state of the first chip is the second state, a hardware reboot may be performed on the first chip. If the hardware reboot of the first chip is completed successfully, a hardware self-test may be performed on the first chip. For example, a hardware self-test may be performed on the first chip using a Built-in Self Test (BIST) algorithm. If the hardware self-test of the first chip is completed successfully, it may be determined that the hardware of the first chip operates normally, in which case a software reboot may be performed on the first chip.

[0073] In step 520, after the first chip has been normally restarted, control of the vehicle's running state is switched to the first chip.

[0074] Optionally, when the software restart of the first chip is completed normally, it can be determined that the restart of the entire first chip is completed normally, and the first chip is restored to a state in which it can operate normally, whereupon control of the vehicle's driving state by the second chip is stopped and control of the vehicle's driving state is switched to control by the first chip.

[0075] Here, the above steps 510 to 520 can be executed by the vehicle control unit. That is, if the current operating state of the first chip is an unusable state, the vehicle control unit restarts the first chip. After the first chip is successfully restarted, the first chip re-outputs the first control command. At this time, the vehicle control unit re-receives the first control command output from the first chip, and controls the driving state of the vehicle based on the first control command.

[0076] Optionally, if the first chip fails to perform a software restart, the first chip can still not operate normally, and the second chip can continue to control the running state of the vehicle, and the first chip can be restarted again.

[0077] In the embodiment of the present disclosure, when the current state of the first chip is the second state, the second chip can control the running state of the vehicle, and the first chip can also be restarted to try to restore the normal state. Once the first chip is restored to a state in which it can operate normally, the first chip can be switched to control the running state of the vehicle, and at this time, the resources of the second chip can be provided preferentially to control the cockpit of the vehicle. The first chip is a chip specially for supporting intelligent driving functions, which is favorable to ensuring the reliability of intelligent driving, and can avoid restricting the intelligent cockpit function as much as possible, which is favorable to ensuring the user's usage experience.

[0078] As described above, by using the embodiments of the present disclosure, it is possible to effectively control the driving state and cockpit of a vehicle, avoid loss of control of intelligent driving, and ensure driving safety and user experience.

[0079] In yet another exemplary embodiment according to the present disclosure, a vehicle control method includes steps 60a to 60l.

[0080] In step 60a, the vehicle control unit determines a current operating state of the first chip based on the state indicating information for indicating the current operating state of the first chip, which is generated by the first chip.

[0081] In this step, the first chip monitors and measures its own current operating state in real time, and generates corresponding status indication information. The first chip outputs the status indication information, and the vehicle control unit receives the status indication information, so that the current operating state of the first chip can be determined.

[0082] In step 60b, in response to the current operating state being the enabled state, the process proceeds to step 60c. In response to the current operating state being the disabled state, the vehicle control unit outputs state indication information corresponding to the disabled state to the second chip, and the process proceeds to step 60h.

[0083] In step 60c, the second chip obtains a first quantity of data collected by the first sensor, and generates a first environmental sensing result based on the first quantity of data collected by the first sensor.

[0084] In this step, since the second chip does not receive the state indication information corresponding to the disabled state output from the vehicle control unit, the second chip determines that the current working state of the first chip is the enabled state, in which case the second chip obtains a first quantity of data collected by the first sensor to generate a first environmental sensing result.

[0085] In step 60d, the first chip receives the data collected by the second sensor, and generates a second environmental sensing result based on the data collected by the second sensor.

[0086] In this step, the second chip in an enabled state receives the data collected by the second sensor and generates a second environmental sensing result.

[0087] In step 60e, the first chip receives a first environmental sensing result output from the second chip, where the first chip is connected to the second chip. The first chip verifies the second environmental sensing result based on the first environmental sensing result to obtain a verification result. In response to the verification result indicating that the verification of the second environmental sensing result is passed, the first chip generates and outputs a first control command based on the second environmental sensing result.

[0088] In this step, the first chip compares the first environmental sensing result with the second environmental sensing result to obtain a verification result, and if the verification is passed, the second environmental sensing result is deemed accurate, and a first control command is generated and output according to the second environmental sensing result.

[0089] In step 60f, the vehicle control unit receives the first control command output from the first chip, and controls the driving state of the vehicle based on the first control command.

[0090] In this step, the vehicle control unit controls the driving state of the vehicle according to the first control command output from the first chip, so that when the first chip is in an enabled state, the vehicle control unit realizes an intelligent driving function in the first chip.

[0091] In step 60g, the vehicle control unit receives the first cockpit control command generated by the second chip, and controls the vehicle's cockpit based on the first cockpit control command.

[0092] In this step, the vehicle control unit controls the cockpit of the vehicle according to the first cockpit control command output from the second chip, so that when the first chip is in an available state, the vehicle control unit realizes the cockpit control function in the second chip.

[0093] In step 60h, the second chip receives the status indication information corresponding to the unusable state and obtains a second quantity of data collected by the first sensor, the second quantity being greater than the first quantity. The second chip generates a first environmental sensing result based on the second quantity of data collected by the first sensor.

[0094] In this step, the second chip receives the state indication information corresponding to the disabled state output from the vehicle control unit, so that the second chip determines that the current working state of the first chip is the disabled state, in which case the second chip obtains a second quantity of data collected by the first sensor to generate a first environmental sensing result.

[0095] In step 60i, the vehicle control unit receives the second control command generated by the second chip based on the first environmental sensing result, and controls the driving state of the vehicle based on the second control command.

[0096] In this step, when the second chip resources are not fully occupied, the second resource of the second chip generates a second control command according to the first environment sensing result, and outputs the second control command. The vehicle control unit receives the second control command output from the second chip, and controls the driving state of the vehicle according to the second control command. In this way, when the first chip is disabled, the vehicle control unit realizes the intelligent driving function in the second chip.

[0097] In step 60j, the vehicle control unit receives the second cockpit control instructions generated by the second chip based on the second resource, and controls the vehicle cockpit based on the second cockpit control instructions.

[0098] In this step, the second chip generates and outputs a second cockpit control command based on the first resource. The vehicle control unit receives the second cockpit control command output from the second chip and controls the cockpit of the vehicle based on the second cockpit control command. In this way, even if the first chip is disabled, the vehicle control unit realizes the cockpit function in the second chip.

[0099] In step 60k, the vehicle control unit restarts the first chip. In this step, the vehicle control unit controls the first chip to restart.

[0100] In step 60l, after the first chip is normally restarted, the vehicle control unit receives the first control command output from the first chip again, and controls the driving state of the vehicle based on the first control command.

[0101] In this step, after the first chip is normally restarted, the first chip is restored to a usable state and outputs state instruction information to the vehicle control unit. The first chip regenerates the first control command, and the vehicle control unit re-receives the first control command output from the first chip and controls the driving state of the vehicle according to the first control command. Specifically, refer to steps 60a to 60g, and detailed description is omitted here.

[0102] The order of the numbers of each step in the above embodiments does not indicate the order of execution, and the order of execution of each process does not limit the implementation process of the embodiments of the present invention, but can be determined according to its functions and inherent logic.

[0103] (Exemplary Apparatus) 6 is a schematic structural diagram of a vehicle control device according to some exemplary embodiments of the present disclosure. A first chip 610 for supporting intelligent driving functions; a second chip 620 for supporting at least intelligent cockpit functions; The vehicle may include a driven module 630 (which may also be referred to as a "vehicle control unit") for controlling the vehicle's running state by driving the first chip 610 in response to the current state of the first chip 610 being a first state, and for controlling the vehicle's running state by driving the second chip 620 in response to the current state of the first chip 610 being a second state.

[0104] Optionally, the vehicle can be an electric vehicle, and the driven module 630 can include a Vehicle Control Unit (VCU) of the electric vehicle. The driven module 630 is electrically connected to the first chip 610 and the second chip 620. For example, the driven module 630 can be electrically connected to the first chip 610 and the second chip 620 via a Controller Area Network (CAN) bus.

[0105] Optionally, the first chip 610 may acquire data collected by the sensor device 600 to acquire the second sensor data. Here, the sensor device 600 may include a millimeter wave radar, a laser radar, and / or a camera. The first chip 610 may perform a sensing operation and a planning operation based on the second sensor data. Assuming that the driving route planned by the first chip 610 at time t1 is L1, the driving route planned by the first chip 610 at time t2, which is later than time t1 and very close to time t1, is L2, and the difference between L1 and L2 is too large and there is no overlapping portion, it can be determined that the software of the first chip 610 cannot operate normally. Assuming that an obstacle is present within a certain distance range ahead of the vehicle based on image data corresponding to the camera among the second sensor data, but that there is no obstacle within a certain distance range ahead of the vehicle based on point cloud data corresponding to the laser radar among the second sensor data, it can be determined that the software of the first chip 610 cannot operate normally. Then, it can be determined whether the current state of the first chip 610 is a first state or a second state. The first chip 610 can send state indication information to the driven module 630 to indicate the current state of the first chip 610.

[0106] When the current state of the first chip 610 is the first state, the driven module 630 receives a control command from the first chip 610, and based on the received control command, controls the vehicle's braking system 640, turning system 650, engine system 660, etc., so as to enable the vehicle to brake, turn, adjust speed, etc.

[0107] When the current state of the first chip 610 is the second state, the driven module 630 can receive a control command from the second chip 620 and control the vehicle's braking system 640, turning system 650, engine system 660, etc. according to the received control command, so as to enable the vehicle to brake, turn, adjust speed, etc.

[0108] In some embodiments, the vehicle may not be an electric vehicle, for example, may be a fuel-powered vehicle, in which case the driven module 630 may not be a VCU but may be a controller for the fuel-powered vehicle that may control a braking system 640, a turning system 650, an engine system 660, etc.

[0109] In the embodiment of the present disclosure, the first chip 610 can be regarded as a master chip, and the second chip 620 can be regarded as a slave chip. When the master chip can operate normally, the master chip can control the running state of the vehicle, and when the master chip cannot operate normally, the slave chip can control the running state of the vehicle. In this way, by utilizing the hot backup strategy to effectively control the running state of the vehicle, it is possible to avoid the loss of control of intelligent driving and ensure driving safety. In addition, in the embodiment of the present disclosure, the master chip is a chip for specially supporting the automatic driving function, and the slave chip is not a chip for specially supporting the automatic driving function, but is a chip for at least supporting the intelligent cockpit function. That is, in the embodiment of the present disclosure, the hot backup can be achieved by multiplexing the chips related to the intelligent cockpit function, so that it is possible to avoid the loss of control of intelligent driving and ensure driving safety at a low cost.

[0110] In some selectable examples, in response to the current operating state being a disabled state, the driven module 630 outputs state indication information corresponding to the disabled state to the second chip 620, receives a second control command output from the second chip 620, and controls the driving state of the vehicle based on the second control command.

[0111] In some selectable examples, the second chip 620 acquires data collected by the first sensor and generates a first environmental sensing result based on the data collected by the first sensor, and the driven module 630 receives a second control command generated by the second chip 620 based on the first environmental sensing result in response to the current operating state being a disabled state.

[0112] In some selectable examples, when the second chip 620 does not receive status indication information corresponding to an unavailable state, it obtains a first quantity of data collected by the first sensor, and when the second chip 620 receives status indication information corresponding to an unavailable state, it obtains a second quantity of data collected by the first sensor, the second quantity being greater than the first quantity.

[0113] In some selectable examples, the first chip 610 acquires data collected by a second sensor, generates a second environmental sensing result based on the data collected by the second sensor, receives the first environmental sensing result output from the second chip 620 connected to the first chip 610, verifies the second environmental sensing result based on the first environmental sensing result to obtain a verification result, and in response to the verification result indicating that the verification of the second environmental sensing result has passed, generates and outputs a first control command based on the second environmental sensing result.

[0114] In some selectable examples, the driven module 630 receives a first cockpit control command generated by the second chip 620 in response to the current operating state being disabled, and controls the vehicle's cockpit based on the first cockpit control command.

[0115] In some selectable examples, in response to the current operating state being a disabled state, the driven module 630 receives second control instructions generated by the second chip 620 based on the second resource, receives second cockpit control instructions generated by the second chip 620 based on the first resource, and controls the vehicle's cockpit based on the second cockpit control instructions.

[0116] In some selectable examples, in response to the current operating state being a disabled state, the driven module 630 restarts the first chip 610, and after the first chip 610 is successfully restarted, re-receives the first control command output from the first chip 610, and controls the driving state of the vehicle based on the first control command.

[0117] In addition, in the vehicle control device according to the exemplary embodiment of the present disclosure, the detailed description of each module can be referred to the above exemplary method, and the detailed description will be omitted here.

[0118] 7 is a schematic structural diagram of a vehicle control device according to another exemplary embodiment of the present disclosure. The vehicle is provided with a first chip for supporting an intelligent driving function and a second chip for supporting at least an intelligent cockpit function. The device shown in FIG. 7 includes: A determination module 710 for determining a current state of the first chip; a first control module 720 for controlling the running state of the vehicle by the first chip in response to the current state determined by the determination module 710 being the first state; and a second control module 730 for controlling the running state of the vehicle by the second chip in response to the current state determined by the determination module 710 being the second state.

[0119] In some alternative embodiments, as shown in FIG. 8, an apparatus according to an embodiment of the present disclosure includes: a first invocation module 810 for invoking the second chip to obtain the first sensor data; a second invocation module 820 for invoking the second chip to generate a first environmental sensing result based on the first sensor data; The vehicle may further include a second control module 730 for controlling the running state of the vehicle by the second chip based on the first environmental sensing result generated by the second invocation module 820 invoking the second chip in response to the current state determined by the determination module 710 being the second state.

[0120] In some alternative embodiments, the first invocation module 810: a first invocation submodule for invoking the second chip to generate a first environmental sensing result based on first data corresponding to the first sensor among the first sensor data in response to the current state determined by the determination module 710 being the first state; Or, and a second invocation sub-module for invoking the second chip to generate a first environmental sensing result based on all of the first sensor data in response to the current state determined by the determination module 710 being the second state.

[0121] In some alternative embodiments, as shown in FIG. 9, the first control module 720: a third invocation sub-module 910 for invoking the first chip to obtain second sensor data in response to the current state determined by the determination module 710 being the first state, and generating a second environmental sensing result based on the second sensor data; a verification sub-module 920 for verifying the second environment sensing result obtained by the third invocation sub-module 910 invoking the first chip based on the first environment sensing result generated by the second invocation module 820 invoking the second chip to obtain a verification result; and a control submodule 930 for controlling the running state of the vehicle by the first chip based on the second environmental sensing result obtained by the third invocation submodule 910 invoking the first chip in response to the verification result obtained by the verification submodule 920 indicating that the verification of the second environmental sensing result has been passed.

[0122] In some alternative embodiments, as shown in FIG. 10, an apparatus according to an embodiment of the present disclosure includes: In the process of controlling the driving state of the vehicle by the second chip, the device may further include a third control module 1010 for controlling the cockpit of the vehicle by the first resource of the second chip in response to the first resource of the second chip being in an idle state.

[0123] In some alternative embodiments, as shown in FIG. 10, an apparatus according to an embodiment of the present disclosure includes: a restart module 1020 for restarting the first chip in response to the current state determined by the determination module 710 being the second state; The vehicle may further include a switching module 1030 for switching control of the vehicle's running state to that of the first chip after the restart module 1020 successfully restarts the first chip.

[0124] In the device of the present disclosure, the various selectable examples, selectable embodiments, and selectable examples disclosed above can all be flexibly selected and combined as needed to achieve corresponding functions and effects, and will not be recited one by one in the present disclosure.

[0125] (Example Electronic Devices) FIG. 11 illustrates a block diagram of an electronic device 1100 according to an embodiment of the present disclosure, the electronic device 1100 including one or more processors 1110 and a memory 1120.

[0126] The processor 1110 may be a central processing unit (CPU) or other form of processing unit having data processing and / or instruction execution capabilities and may control other components in the electronic device 1100 to perform desired functions.

[0127] The memory 1120 may include one or more computer program products, which may include various forms of computer-readable storage media, such as, for example, volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may include, for example, read only memory (ROM), hard disk, flash memory, etc. The computer-readable storage media may store one or more computer program instructions, and the processor 1110 may execute the one or more computer program instructions to implement the methods of the embodiments of the present disclosure described above and / or other desired functions.

[0128] As an example, the electronic device 1100 may further include an input device 1130 and an output device 1140 connected to each other via a bus system and / or other form of connection (not shown).

[0129] The input device 1130 may include, for example, a keyboard, a mouse, various sensors, a touch screen, and the like.

[0130] The output device 1140 can output various types of information to the outside, and can include, for example, a display, a speaker, a printer, a communication network, and a remote output device connected thereto.

[0131] For simplicity, Fig. 11 shows only some of the components related to the present disclosure in the electronic device 1100, and omits components such as a bus, an input / output interface, etc. In addition, the electronic device 1100 may further include any other appropriate components according to a specific application situation.

[0132] Exemplary Computer Program Products and Computer-Readable Storage Media In addition to the methods and apparatus described above, embodiments of the present disclosure may provide a computer program product including computer program instructions that, when executed by a processor, cause the processor to perform method steps according to various embodiments of the present disclosure as described in the "Exemplary Methods" section herein.

[0133] The computer program product may be produced with program code for carrying out operations of embodiments of the present disclosure in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, and traditional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partly on the user computing device and partly on a remote computing device, or entirely on the remote computing device or a server.

[0134] Additionally, embodiments of the present disclosure may further provide a computer-readable storage medium having computer program instructions stored thereon that, when executed by a processor, cause the processor to perform method steps according to various embodiments of the present disclosure as described in the "Exemplary Methods" section herein.

[0135] The computer-readable storage medium may be any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), optical fiber, a compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0136] Although the basic principles of the present disclosure have been described above with reference to specific examples, the advantages, merits, effects, etc. mentioned in the present disclosure are merely illustrative and not limiting, and these advantages, merits, effects, etc. are not necessarily possessed by each embodiment of the present disclosure. In addition, the specific details of the above disclosure are merely illustrative and easy-to-understand actions and are not limiting, and the above details do not necessarily limit the present disclosure to be realized by the above specific details.

[0137] Those skilled in the art can make various modifications and variations to the present disclosure without departing from the spirit and scope of the present disclosure. Thus, if these modifications and variations of the present disclosure fall within the scope of the claims of the present disclosure and their equivalents, the present disclosure is also intended to include these modifications and variations.

Claims

1. A vehicle control method for a vehicle, the vehicle being provided with a first chip for supporting an intelligent driving function and a second chip for supporting at least an intelligent cockpit function, comprising: A vehicle control unit determines a current operating state of the first chip based on state indication information for indicating the current operating state of the first chip generated by the first chip; receiving a first control command output from the first chip in response to the current operating state being an enabled state, and controlling an operating state of the vehicle based on the first control command; receiving a second control command output from the second chip in response to the current operating state being a disabled state, and controlling an operating state of the vehicle based on the second control command by the vehicle control unit. A vehicle control method comprising:

2. The step of the vehicle control unit receiving a second control command output from the second chip in response to the current operating state being a disabled state, and controlling the driving state of the vehicle based on the second control command, the vehicle control unit, in response to the current operating state being a disabled state, outputting state indication information corresponding to the disabled state to the second chip; The vehicle control unit receives a second control command output from the second chip, and controls a driving state of the vehicle based on the second control command. The vehicle control method according to claim 1 .

3. The vehicle control method includes: the second chip acquiring data collected by a first sensor; The second chip further includes generating a first environment sensing result based on the data collected by the first sensor; The step of receiving, by the vehicle control unit, a second control command output from the second chip in response to the current operating state being a disabled state, includes: receiving, by the vehicle control unit, a second control command generated by the second chip based on the first environmental sensing result in response to the current operating state being a disabled state; 3. The vehicle control method according to claim 2.

4. The step of the second chip acquiring data collected by the first sensor includes: if the second chip does not receive status indication information corresponding to the disabled state, acquiring a first quantity of data collected by the first sensor; receiving, by the second chip, status indication information corresponding to the unusable status and acquiring a second quantity of data collected by the first sensor; The second quantity is greater than the first quantity.

4. The vehicle control method according to claim 3.

5. The vehicle control method includes: before the vehicle control unit receives a first control command output from the first chip in response to the operational state being an enabled state, The first chip receives data collected by a second sensor, and generates a second environmental sensing result based on the data collected by the second sensor; The first chip receives the first environment sensing result output from the second chip; The first chip verifies the second environment sensing result based on the first environment sensing result to obtain a verification result; In response to the verification result indicating that the verification of the second environmental sensing result has been passed, the first chip generates and outputs the first control command based on the second environmental sensing result.

4. The vehicle control method according to claim 3.

6. The vehicle control method includes: and further comprising the step of: receiving, by the vehicle control unit, a first cockpit control command generated by the second chip in response to the current operating state being an enabled state, and controlling a cockpit of the vehicle based on the first cockpit control command. The vehicle control method according to claim 1 .

7. The vehicle control method includes: the vehicle control unit further includes a step of receiving the second control command generated by the second chip based on a second resource, receiving the second cockpit control command generated by the second chip based on a first resource, and controlling a cockpit of the vehicle based on the second cockpit control command in response to the current operating state being a disabled state. The vehicle control method according to claim 1 .

8. The vehicle control method includes: the vehicle control unit restarting the first chip in response to the current operating state being a disabled state; After the first chip is normally restarted, the vehicle control unit re-receives the first control command output from the first chip, and controls the driving state of the vehicle based on the first control command. The vehicle control method according to any one of claims 1 to 7.

9. A vehicle control device, A first chip for supporting an intelligent driving function; a second chip for supporting at least intelligent cockpit functionality; and a vehicle control unit for determining a current operating state of the first chip based on state indication information for indicating a current operating state of the first chip generated by the first chip, receiving a first control command output from the first chip in response to the current operating state being an available state, and controlling a driving state of the vehicle based on the first control command, and for receiving a second control command output from the second chip in response to the current operating state being an unavailable state, and controlling a driving state of the vehicle based on the second control command. A vehicle control device comprising:

10. the vehicle control unit, in response to the current operating state being a disabled state, outputs state indication information corresponding to the disabled state to the second chip, receives a second control command output from the second chip, and controls an operating state of the vehicle based on the second control command. The vehicle control device according to claim 9 .

11. The second chip acquires data collected by a first sensor, and generates a first environmental sensing result based on the data collected by the first sensor; the vehicle control unit receives a second control command generated by the second chip based on the first environmental sensing result in response to the current operating state being a disabled state; The vehicle control device according to claim 10 .

12. When the second chip does not receive state indication information corresponding to the unusable state, the second chip acquires a first quantity of data collected by the first sensor; the second chip receives a status indication corresponding to the unusable state and obtains a second quantity of data collected by the first sensor; The second quantity is greater than the first quantity. The vehicle control device according to claim 11 .

13. the first chip acquires data collected by a second sensor, generates a second environmental sensing result based on the data collected by the second sensor, receives the first environmental sensing result output from the second chip, verifies the second environmental sensing result based on the first environmental sensing result to obtain a verification result, and generates and outputs the first control command based on the second environmental sensing result in response to the verification result indicating that the verification of the second environmental sensing result has been passed. The vehicle control device according to claim 11 .

14. the vehicle control unit receives a first cockpit control command generated by the second chip in response to the current operating state being an enabled state, and controls a cockpit of the vehicle based on the first cockpit control command. The vehicle control device according to claim 9 .

15. the vehicle control unit receives the second control command generated by the second chip based on a second resource in response to the current operating state being a disabled state; receiving a second cockpit control command generated by the second chip based on the first resource, and controlling a cockpit of the vehicle based on the second cockpit control command; The vehicle control device according to claim 9 .

16. the vehicle control unit restarts the first chip in response to the current operating state being a disabled state, and after the first chip is normally restarted, receives again the first control command output from the first chip, and controls the driving state of the vehicle based on the first control command. The vehicle control device according to any one of claims 9 to 15.

17. 1. A computer-readable storage medium, comprising: A computer program for executing the vehicle control method according to any one of claims 1 to 7 is stored. A computer-readable storage medium comprising:

18. 1. An electronic device comprising a processor and a memory for storing instructions executable by the processor, The processor reads the executable instructions from the memory and executes them to implement the vehicle control method according to any one of claims 1 to 7.

1. An electronic device comprising:

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