Vehicle control method, vehicle control system, and vehicle

Abstract

A vehicle control method, a vehicle control system, and a vehicle. The method is applied to an intelligent driving controller (310), and comprises: in response to determining that a vehicle has been powered off and that a thermal-runaway inspection message, which is sent by a power domain controller (320), has been received on a first private bus (301), remaining in a sleep state, wherein the first private bus (301) is used for connecting the power domain controller (320) and an intelligent driving controller (310).

Description

Vehicle control method, vehicle control system, and vehicle

[0001] This application claims priority to the patent application filed with the China Patent Office on September 14, 2023, with application number 202311188411.3 and patent application name “Vehicle control method, vehicle control system and vehicle”, all contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of vehicle control technology, and in particular to a vehicle control method, a vehicle control system, and a vehicle. Background Art

[0003] Autonomous driving requires an intelligent driving controller and numerous sensors for perception and control. When cooling is required, the vehicle's cooling controller controls fans and water pumps to dissipate heat for the intelligent driving domain controller.

[0004] However, when the vehicle is powered off and in hibernation, it will periodically perform routine inspections for local thermal runaway. In this case, the entire vehicle network will be awakened, that is, the intelligent driving controller and various electronic control units mounted thereon will be awakened, resulting in increased power consumption.

[0005] Summary of the Invention

[0006] In view of this, the purpose of this application is to propose a vehicle control method, a vehicle control system and a vehicle, so as to avoid waking up the intelligent driving controller and various sensors when the vehicle is powered off and in sleep mode for thermal runaway inspection, thereby reducing the power consumption of the entire vehicle.

[0007] Based on the above objectives, the present application provides a vehicle control method, which is applied to an intelligent driving controller, and the method includes:

[0008] In response to determining that the vehicle has been powered off and receiving a thermal runaway inspection message sent by the power domain controller on the first private bus, the vehicle remains dormant; wherein the first private bus is used to connect the power domain controller and the intelligent driving controller.

[0009] Based on the above objectives, the present application also provides a vehicle control method, which is applied to a gateway, and the method includes:

[0010] Receive the vehicle wake-up network message sent by the power domain controller through the second public bus; wherein, the second public bus is used to connect the gateway and the power domain controller; the vehicle wake-up network message is sent when the power domain controller receives the abnormal application message sent by the high-voltage control unit through the first private bus, and the abnormal application message is generated when the high-voltage control unit fails the thermal runaway inspection after being awakened. The high-voltage control unit is awakened when it receives the network management message in the thermal runaway inspection message sent by the power domain controller through the first private bus. The intelligent driving controller remains dormant in response to receiving the thermal runaway inspection message on the first private bus. The first private bus is used to connect the power domain controller, the high-voltage control unit and the intelligent driving controller.

[0011] Based on the above purpose, the present application also provides a vehicle control system, which includes: an intelligent driving controller, a power domain controller and a gateway;

[0012] The power domain controller and the intelligent driving controller are connected via a first private bus; the intelligent driving controller and the gateway are connected via a first public bus; and the power domain controller and the gateway are connected via a second public bus.

[0013] The power domain controller is configured to: in response to determining that the vehicle has been powered off, send a thermal runaway inspection message on the first private bus; in response to receiving an abnormal application message, send a vehicle wake-up network message on the second public bus;

[0014] The intelligent driving controller is configured to: remain dormant in response to receiving a thermal runaway inspection message on the first private bus; and wake up in response to receiving a vehicle wake-up network message sent by the gateway on the first public bus;

[0015] The gateway is configured to: receive a vehicle-wide awakening network message on the second common bus, and send the vehicle-wide awakening network message on the first common bus.

[0016] Based on the above purpose, the present application also provides a vehicle, which includes a vehicle control system provided in any embodiment of the present application.

[0017] As can be seen from the above, the vehicle control method provided in the present application, in response to determining that the vehicle has been powered off and the intelligent driving controller receives a thermal runaway inspection message sent by the power domain controller on the first private bus, the intelligent driving controller remains dormant, thereby avoiding waking up the intelligent driving controller when the vehicle is powered off for thermal runaway inspection, reducing unnecessary energy consumption, and reducing the power consumption of the entire vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] FIG1 is a flow chart of a vehicle control method provided by an embodiment of the present application;

[0019] FIG2 is a flow chart of another vehicle control method provided by an embodiment of the present application;

[0020] FIG3 is a schematic structural diagram of a vehicle control system provided in an embodiment of the present application;

[0021] FIG4 is a schematic diagram of the structure of another vehicle control system provided in an embodiment of the present application;

[0022] FIG5 is a schematic structural diagram of another vehicle control system provided in an embodiment of the present application;

[0023] FIG6 is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] Figure 1 is a flow chart of a vehicle control method provided by an embodiment of the present application, which is applied to an intelligent driving controller and is mainly suitable for preventing the intelligent driving controller from being awakened during a thermal runaway inspection when the vehicle is in power-down mode. As shown in Figure 1, the method may specifically include the following steps:

[0025] S110 : In response to determining that the vehicle has been powered off and receiving a thermal runaway inspection message sent by the power domain controller on the first private bus, remain dormant.

[0026] Among them, the first private bus is used to connect the power domain controller and the intelligent driving controller. The power domain controller is used for fine control of the vehicle's power system, to achieve precise adjustment of the vehicle's power output, thereby improving the vehicle's performance and driving experience. In this embodiment, the power domain controller can also be used to dissipate heat from the entire vehicle and control cooling devices such as fans and water pumps. The intelligent driving controller can be a single-domain controller or a dual-domain controller. The thermal runaway inspection message includes a network management message and an application message during the thermal runaway inspection, wherein the network management message is used for wake-up, and the application message is used to control the execution of the thermal inspection. It can be understood that the thermal runaway inspection is only performed when the vehicle is powered off.

[0027] Specifically, when the vehicle is powered off, the entire vehicle will gradually enter a dormant state, that is, a low-power state. In order to ensure the safety of the vehicle's electricity use, the power domain controller will wake up according to the thermal runaway inspection cycle to perform a thermal runaway inspection. Since the first private bus connects the power domain controller and the intelligent driving controller, the power domain controller can send a thermal runaway inspection message on the first private bus, but the thermal inspection operation has nothing to do with the intelligent driving controller. When the underlying microcontroller in the intelligent driving controller receives the thermal runaway inspection message, it does not respond to it and remains in a dormant state, which can avoid waking up and starting an unnecessary thermal inspection process.

[0028] It should be noted that thermal inspection is usually implemented through a high-voltage control unit, which can be used to monitor the voltage of the power supply equipment. Therefore, the first private bus can connect the power domain controller, the high-voltage control unit and the intelligent driving controller. It can be understood that in response to determining that the vehicle has been powered off and receiving a network management message in a thermal runaway inspection message on the first private bus, it remains dormant. In response to determining that the vehicle has been powered off and receiving an application message in a thermal runaway inspection message on the first private bus, it remains dormant. Among them, the power domain controller is configured to send a thermal runaway inspection message on the first private bus according to the thermal runaway inspection cycle.

[0029] Specifically, to ensure the vehicle's electrical safety, the power domain controller will wake up according to the thermal runaway inspection cycle to perform a thermal runaway inspection. Because the first private bus connects the power domain controller, the high-voltage control unit, and the intelligent driving controller, the power domain controller can send the network management message in the thermal runaway inspection message to the high-voltage control unit and the intelligent driving controller over the first private bus. Upon receiving the network management message in the thermal runaway inspection message, the underlying microcontroller within the high-voltage control unit wakes up. Upon receiving the network management message in the thermal runaway inspection message, the underlying microcontroller within the intelligent driving controller does not respond and remains dormant. After waking up the high-voltage control unit, the power domain controller sends the application message in the thermal runaway inspection message over the first private bus. While awake, the high-voltage control unit receives the application message in the thermal runaway inspection message and performs a thermal runaway inspection to determine whether any abnormalities exist. Upon receiving the application message in the thermal runaway inspection message, the underlying microcontroller within the intelligent driving controller does not respond and remains dormant.

[0030] It should be noted that during a thermal runaway inspection, it is sufficient to determine whether the high-voltage control unit is in thermal runaway. There is no need to wake up the intelligent driving controller and, in turn, the sensors. If the high-voltage control unit is not in thermal runaway, the power domain controller and the high-voltage control unit will go back to sleep and wait for the next thermal runaway inspection to wake them up. If the high-voltage control unit is in thermal runaway, the entire vehicle network will be woken up for troubleshooting and cooling.

[0031] Based on the above example, if an abnormality occurs during the thermal runaway inspection, a vehicle wake-up test is required. That is, the high-voltage control unit feeds back an abnormal application message to the power domain controller via the first private bus. The power domain controller sends a vehicle wake-up network message to the gateway to wake up the gateway. Then, the intelligent driving controller is woken up through the gateway. Specifically, it can be:

[0032] It starts when a vehicle wake-up network message sent by the gateway is received on the first public bus, and sends an electronic control unit wake-up message on the second private bus to start the first electronic control unit group.

[0033] The first public bus connects the intelligent driving controller and the gateway, while the second private bus connects the intelligent driving controller and the first ECU group. The vehicle wake-up network message is a network management message used to wake up the vehicle's controllers and sensors through the gateway. The ECU wake-up message is a network management message used to wake up the first ECU group.

[0034] It should be noted that the abnormal application message is generated by the high-voltage control unit when the thermal runaway inspection fails. During the thermal runaway inspection, if the high-voltage control unit fails the thermal runaway inspection, an abnormal application message is generated and sent to the power domain controller through the first private bus. When the power domain controller receives the abnormal application message, it needs to wake up the entire vehicle, so it sends a vehicle wake-up network message to the gateway on the second public bus. Among them, the second public bus is used to connect the power domain controller and the gateway. After receiving the vehicle wake-up network message, the gateway wakes up and wakes up each controller and sensor directly or indirectly connected to the gateway to wake up the entire vehicle.

[0035] Specifically, upon receiving a vehicle wake-up network message from the gateway via the first public bus, the intelligent driving controller responds and performs a wake-up and startup operation. Furthermore, the intelligent driving controller wakes up the first ECU group connected to it via the second private bus, ensuring that all ECUs connected to the intelligent driving controller can also wake up and start.

[0036] After the intelligent driving controller wakes up, it can monitor the status to determine whether it is in a thermal runaway state. If it is in a thermal runaway state, it can notify the power domain controller to control the cooling device to cool it down. Specifically, it can be:

[0037] In response to determining that the intelligent driving controller is in a thermal runaway state, a cooling application message is generated and the cooling application message is sent to the gateway on the first common bus, so that the gateway sends the cooling application message to the power domain controller through the second common bus, so that the power domain controller controls the cooling device to cool the intelligent driving controller.

[0038] The cooling application message is an application message used to trigger the power domain controller to perform a cooling operation through a cooling device. The cooling device can be a device for cooling, such as a fan or a water pump.

[0039] Specifically, after waking up, if the intelligent driving controller is in a thermal runaway state, it generates a cooling application message and sends it back to the gateway via the first common bus, indicating the need for cooling. The gateway then sends the cooling application message to the power domain controller via the second common bus. Upon receiving the cooling application message, the power domain controller activates the cooling device to cool the intelligent driving controller.

[0040] Optionally, when generating a cooling application message, the startup level and startup parameters of the cooling device may also be carried to accurately control the startup and operation of the cooling device.

[0041] Optionally, other awakened controllers and sensors also perform status monitoring, and when in a thermal runaway state, they feed back cooling application messages to the gateway so that the power domain controller drives the cooling device to perform cooling processing on them.

[0042] Based on the above example, specifically, the power domain controller, in response to receiving an abnormal application message sent by the high-voltage control unit on the first private bus, sends a vehicle wake-up network message to the gateway on the second public bus to wake up the gateway. The gateway wakes up the intelligent driving controller and the second electronic control unit group connected to the gateway via the first public bus. The gateway wakes up the third electronic control unit group connected to the gateway via the third public bus, and the intelligent driving controller wakes up the first electronic control unit group connected to the intelligent driving controller via the second private bus. In response to any one of the intelligent driving controller, the first electronic control unit group, the second electronic control unit group, and the third electronic control unit group being in a thermal runaway state, a cooling application message is generated and fed back to the gateway. The gateway sends the cooling application message to the power domain controller via the second public bus. When the power domain controller receives the cooling application message sent by the gateway on the second public bus, it controls the cooling device to perform cooling processing. It can be understood that the cooling application message is generated and fed back to the gateway when any one of the intelligent driving controller, the first electronic control unit group, the second electronic control unit group and the third electronic control unit group is in a thermal runaway state.

[0043] The first public bus is used to connect the intelligent driving controller, the second ECU group, and the gateway. The third public bus is used to connect the third ECU group and the gateway. The second private bus is used to connect the intelligent driving controller and the first ECU group.

[0044] The first ECU group is not connected to the gateway via any common bus and can be an inertial sensor. The second ECU group can be composed of an intelligent forward-looking control module and a front millimeter-wave radar control module, or a left front corner radar and a right front corner radar. The third ECU group can be composed of a left blind spot radar and a right blind spot radar, and delays power-off when the vehicle is powered off.

[0045] The vehicle control method provided in this embodiment, in response to determining that the vehicle has been powered off and the intelligent driving controller receives a thermal runaway inspection message sent by the power domain controller on the first private bus, the intelligent driving controller remains dormant, thereby avoiding waking up the intelligent driving controller when the vehicle is powered off and performing a thermal runaway inspection, reducing unnecessary power consumption and lowering the power consumption of the entire vehicle.

[0046] FIG2 is a flow chart of another vehicle control method provided by an embodiment of the present application, which is applied to a gateway. As shown in FIG2 , the method may specifically include the following steps:

[0047] S210: Receive a vehicle wake-up network message sent by the power domain controller through the second public bus.

[0048] Among them, the vehicle wake-up network message is sent when the power domain controller receives the abnormal application message sent by the high-voltage control unit through the first private bus. The abnormal application message is generated when the high-voltage control unit fails the thermal runaway inspection after being awakened. The high-voltage control unit is awakened when it receives the network management message in the thermal runaway inspection message sent by the power domain controller through the first private bus, and the intelligent driving controller remains dormant in response to receiving the thermal runaway inspection message on the first private bus. The first private bus is used to connect the power domain controller, the high-voltage control unit and the intelligent driving controller. The second public bus is used to connect the gateway and the power domain controller.

[0049] Specifically, when the vehicle is powered off, the power domain controller wakes up the high-voltage control unit to perform a thermal runaway check and puts the intelligent driving controller into hibernation. However, if the high-voltage control unit fails the thermal runaway check, it generates an abnormal application message and sends it to the power domain controller via the first private bus. The power domain controller needs to wake up the entire vehicle, so it sends a vehicle wakeup network message to the gateway via the second public bus. The gateway receives this vehicle wakeup network message and wakes up the entire vehicle.

[0050] Based on the above example, when the vehicle is powered off, there are some electronic control units that need to be powered off later. Therefore, the following methods can be used to control the delayed power off of these electronic control units to ensure vehicle safety:

[0051] In response to determining that the vehicle is powered off, the second ECU group is controlled to be powered off based on the first common bus, the third ECU group is controlled to be connected to the battery based on the third common bus, and the third ECU group is controlled to be disconnected from the battery after a first preset time.

[0052] The gateway, intelligent driving controller, and second ECU group are connected via a first common bus, and the gateway and third ECU group are connected via a third common bus. The second ECU group includes the ECUs that do not require a delay in powering off after the vehicle connected to the gateway is powered off. The third ECU group includes the ECUs that require a delay in powering off after the vehicle connected to the gateway is powered off. The battery is the 30B power source in the vehicle and can supply power to the relay, delaying its engagement and thus delaying the powering off of the third ECU. The first preset duration is the pre-set duration for the delayed power-off.

[0053] Specifically, when the vehicle is powered off, before the gateway is powered off, the gateway controls the power-off of each electronic control unit, and the second electronic control unit group can be controlled to power off based on the first common bus. In order to ensure delayed power-off of the third electronic control unit group, the third electronic control unit group can be controlled to be connected to the battery based on the third common bus, so that the battery can be used to power the third electronic control unit group for a short time, and the third electronic control unit group can be controlled to be disconnected from the battery after a first preset time, so as to complete the power-off setting of extending the first preset time.

[0054] For example, the second and third ECU groups are both awakened when powered on and dormant when powered off, and are both powered on by the vehicle's 15V power supply. The second ECU group (such as the front millimeter-wave radar control module, left front corner radar, and right front corner radar) stops working when the 15V power supply is disconnected. The third ECU group (such as the left blind spot radar and the right blind spot radar) is connected to the 30B power supply when the 15V power supply is disconnected. After the vehicle is powered off, the gateway continues to maintain the 30B battery to delay the relay from closing for a first preset time (such as 3 minutes) before powering off, so as to maintain some functions of the vehicle when it is powered off (such as the door opening warning function, etc.) to ensure vehicle safety.

[0055] Based on the above example, when the vehicle is powered off, the following methods can be used to put the vehicle into sleep mode:

[0056] In response to determining that the vehicle is powered off, the management application message is stopped from being sent on the first public bus and the second public bus, so that the intelligent driving controller stops sending the detection application message on the first private bus in response to determining that the management application message on the first public bus has not been received within the second preset time length, and enters sleep mode, so that the power domain controller enters sleep mode in response to determining that the management application message on the second public bus and the detection application message on the first private bus have not been received within the third preset time length, and wakes up according to the thermal runaway inspection cycle.

[0057] The management application message is used to execute various intelligent driving functions. The second preset duration is a preset duration for controlling the intelligent driving controller to enter sleep mode. The detection application message is used to detect thermal anomalies. The third preset duration is a preset duration for controlling the power domain controller to enter sleep mode.

[0058] Specifically, when the vehicle is powered off, there is no need to use the intelligent driving controller, so the sending of management application messages on the first public bus and the second public bus is stopped. When the intelligent driving controller does not receive the management application message on the first public bus within the second preset time, it can be determined that there is no need to use the intelligent driving controller, so the sending of detection application messages on the first private bus to the power domain controller is stopped. When the power domain controller does not receive the management application message on the second public bus within the third preset time, nor does it receive the detection application message on the first private bus, it can be determined that there is no need to use the power domain controller, so the power domain controller can enter sleep mode and subsequently wake up according to the thermal runaway inspection cycle to perform thermal runaway inspection operations.

[0059] It is understood that after the intelligent driving controller goes into hibernation, the first ECU group can be unable to receive application messages on the second private bus for a certain period of time and can also be powered off and put into hibernation. The second ECU group can be powered off and put into hibernation via gateway control when the vehicle is powered off. The third ECU group can also be powered off and put into hibernation via gateway control when the vehicle is powered off. This allows the entire vehicle to be powered off and put into hibernation.

[0060] In the vehicle control method provided in this embodiment, the gateway receives the vehicle wake-up network message sent by the power domain controller through the second common bus to wake up the entire vehicle. When the vehicle is powered off and fails the thermal runaway inspection, the entire vehicle is woken up by the gateway for inspection and processing, thereby reducing the risk of thermal runaway.

[0061] It should be noted that the method of the embodiment of the present application can be performed by a single device, such as a computer or server. The method of this embodiment can also be applied in a distributed scenario and performed by multiple devices working together. In such a distributed scenario, one of the multiple devices may only perform one or more steps of the method of the embodiment of the present application, and the multiple devices will interact with each other to complete the method.

[0062] It should be noted that the above description is limited to some embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in an order different from that described in the above embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0063] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides a vehicle control system. Figure 3 is a schematic diagram of the structure of a vehicle control system provided in an embodiment of the present application. Figure 4 is a schematic diagram of the structure of another vehicle control system provided in an embodiment of the present application. Referring to Figures 3 and 4, the vehicle control system includes: an intelligent driving controller 310, a power domain controller 320, and a gateway 330.

[0064] Among them, the power domain controller 320 and the intelligent driving controller 310 are connected via a first private bus 301; the intelligent driving controller 310 and the gateway 330 are connected via a first public bus 302; the power domain controller 320 and the gateway 330 are connected via a second public bus 303; the power domain controller 320 is configured to: in response to determining that the vehicle has been powered off, send a thermal runaway inspection message on the first private bus 301; in response to receiving an abnormal application message, send a vehicle wake-up network message on the second public bus 303; the intelligent driving controller 310 is configured to: in response to receiving a thermal runaway inspection message on the first private bus 301, remain dormant; and wake up in response to receiving a vehicle wake-up network message sent by the gateway 330 on the first public bus 302; the gateway 330 is configured to: receive the vehicle wake-up network message on the second public bus 303 and send the vehicle wake-up network message on the first public bus 302.

[0065] Based on the above example, as shown in FIG4 , the vehicle control system further includes: a high-voltage control unit 370 .

[0066] The power domain controller 320, the high-voltage control unit 370, and the intelligent driving controller 310 are interconnected via a first private bus 301;

[0067] The high-voltage control unit is configured to: wake up when receiving a network management message in the thermal runaway inspection message on the first private bus 301, and perform a thermal runaway inspection operation in response to receiving an application message in the thermal runaway inspection message on the first private bus 301; in response to failing the thermal runaway inspection, send an abnormal application message to the power domain controller 320 through the first private bus 301.

[0068] Optionally, the power domain controller 320 is further configured to: in response to determining that the vehicle has been powered off, send a network management message in the thermal runaway inspection message on the first private bus 301 to wake up the high-voltage control unit 370; in response to determining to wake up the high-voltage control unit 370, send an application message in the thermal runaway inspection message on the first private bus 301 to enable the high-voltage control unit 370 to perform a thermal runaway inspection operation.

[0069] On the basis of the above example, referring to FIG4 , the vehicle control system further includes: a first electronic control unit group 340 , a second electronic control unit group 350 and a third electronic control unit group 360 ;

[0070] Among them, the second electronic control unit group 350, the intelligent driving controller 310 and the gateway 330 are interconnected through the first public bus 302, and the third electronic control unit group 360 and the gateway 330 are interconnected through the third public bus 304; the first electronic control unit group 340 and the intelligent driving controller 310 are interconnected through the second private bus 305, the second electronic control unit group 350 and the intelligent driving controller 310 are interconnected through the third private bus 306, and the third electronic control unit group 360 and the intelligent driving controller 310 are interconnected through the fourth private bus 307.

[0071] Optionally, the power domain controller 320 is configured to: in response to receiving an abnormal application message sent by the high-voltage control unit 370 on the first private bus 301, send a vehicle wake-up network message to the gateway 330 on the second public bus 303 to wake up the gateway 330; the gateway 330 is configured to: in response to receiving a vehicle wake-up network message on the second public bus 303, wake up the intelligent driving controller 310 and the second electronic control unit group 350 connected to the gateway 330 through the first public bus 302 based on the vehicle wake-up network message, and wake up the third electronic control unit group 360 connected to the gateway 330 through the third public bus 304; the intelligent driving controller 310 is configured to: in response to receiving a vehicle wake-up network message sent by the gateway 330 on the first public bus 302, wake up the first electronic control unit group 340 connected to the intelligent driving controller 310 through the second private bus 305.

[0072] Optionally, the gateway 330 is further configured to: send a cooling application message to the power domain controller 320 through the second common bus 303; wherein, the cooling application message is generated and fed back to the gateway 330 when any one of the intelligent driving controller 310, the first electronic control unit group 340, the second electronic control unit group 350 and the third electronic control unit group 360 is in a thermal runaway state; the power domain controller 320 is configured to: in response to receiving the cooling application message sent by the gateway 330 on the second common bus 303, control the cooling device 380 to perform cooling processing.

[0073] Optionally, the intelligent driving controller 310 is configured to remain dormant in response to determining that the vehicle has been powered off and receiving a thermal runaway inspection message sent by the power domain controller 320 on the first private bus 301.

[0074] Optionally, the intelligent driving controller 310 is also configured to: start when a vehicle wake-up network message sent by the gateway 330 is received on the first public bus 302, and send an electronic control unit wake-up message on the second private bus 305 to start the first electronic control unit group 340.

[0075] Optionally, the intelligent driving controller 310, in response to receiving a vehicle wake-up network message sent by the gateway 330 on the first common bus 302, is started and is further configured to: in response to determining that the intelligent driving controller 310 is in a thermal runaway state, generate a cooling application message, and send the cooling application message to the gateway 330 on the first common bus 302, so that the gateway 330 sends the cooling application message to the power domain controller 320 through the second common bus 303, so that the power domain controller 320 controls the cooling device 380 to perform cooling processing on the intelligent driving controller 310.

[0076] Optionally, the intelligent driving controller 310 is further configured to: remain dormant in response to determining that the vehicle has been powered off and receiving a network management message in the thermal runaway inspection message on the first private bus 301; wherein the power domain controller 320 is configured to send a thermal runaway inspection message on the first private bus 301 according to the thermal runaway inspection cycle.

[0077] Optionally, the intelligent driving controller 310 is further configured to: remain dormant in response to determining that the vehicle has been powered off and receiving an application message in the thermal runaway inspection message on the first private bus 301; wherein the power domain controller 320 is configured to send a thermal runaway inspection message on the first private bus 301 according to the thermal runaway inspection cycle.

[0078] Optionally, the gateway 330 is configured to: receive a vehicle wake-up network message sent by the power domain controller 320 through the second public bus 303; the vehicle wake-up network message is sent when the power domain controller 320 receives an abnormal application message sent by the high-voltage control unit 370 through the first private bus 301, and the abnormal application message is generated when the high-voltage control unit 370 fails to pass the thermal runaway inspection after being awakened. The high-voltage control unit 370 is awakened when it receives a network management message in the thermal runaway inspection message sent by the power domain controller 320 through the first private bus 301, and the intelligent driving controller 310 remains dormant in response to receiving the thermal runaway inspection message on the first private bus 301.

[0079] Optionally, the gateway 330 is further configured to: in response to determining that the vehicle is powered off, control the second electronic control unit group 350 to power off based on the first common bus 302, control the third electronic control unit group 360 to be connected to the battery 390 based on the third common bus 304, and control the third electronic control unit group 360 to be disconnected from the battery 390 after a first preset time period.

[0080] Optionally, the gateway 330 is further configured to: in response to determining that the vehicle is powered off, stop sending management application messages on the first public bus 302 and the second public bus 303, so that the intelligent driving controller 310 stops sending detection application messages on the first private bus 301 in response to determining that no management application messages on the first public bus 302 are received within the second preset time period, and enters sleep mode, so that the power domain controller 320 enters sleep mode in response to determining that no management application messages on the second public bus 303 and no detection application messages on the first private bus 301 are received within the third preset time period, and wakes up according to the thermal runaway inspection cycle.

[0081] For example, FIG5 is a schematic structural diagram of another vehicle control system provided in an embodiment of the present application. As shown in Figure 5, PDCU2 (Powertrain Domain Control Unit) is the power domain controller, HVC3 (High Voltage Controller) is the high-voltage control unit, GW1 (Great Wall) is the gateway, IDC5 (Intelligent Drive Controller) is the main intelligent drive controller, RIDC6 (Redundant Intelligent Drive Controller) is the redundant intelligent drive controller, IFC7 (Intelligent Forward Camera) is the intelligent forward control module, CR_L9 (Corner Radar_Left) is the left front corner radar, CR_R10 (Corner Radar_Right) is the right front corner radar, FR8 (Front Radar) is the front millimeter-wave radar control module, RSDS_L11 (Rear and Side Detection System_Left) is the left blind spot radar, RSDS_R12 (Rear and Side Detection System_Right) is the right blind spot radar, and IMU4 (Inertial Measurement Unit) is an inertial sensor used to provide three single-axis accelerometers and three single-axis gyroscopes.

[0082] As shown in Figure 5, the public bus includes PT14 (the second public bus), ADAS117 (the first public bus), and ADAS218 (the third public bus). The private buses include PM15 (the first private bus), CS19 (the third private bus corresponding to CR_L9 and CR_R10), IF20 (the third private bus corresponding to IFC7 and FR8), RS21 (the fourth private bus), and RE16 (connecting the IMU4 with IDC5 and RIDC6, the second private bus). CS19 is used for data exchange between the two front corner radars (CR_L9 and CR_R10) and the intelligent driving controller (IDC5 and RIDC6); IF20 is used for data exchange between IFC7 and FR8 and the intelligent driving controller; RS21 is used for data exchange between RSDS_L11 and RSDS_R12 and the intelligent driving controller; and RE16 is used by the intelligent driving controller to receive vehicle posture information (the IMU4 is added because the vehicle posture frame rate and accuracy provided by other electronic control units in the vehicle are poor). It can be understood that IMU4 is the first electronic control unit group, IFC7, FR8, CR_L9 and CR_R10 are the second electronic control unit group, and RSDS_L11 and RSDS_R12 are the third electronic control unit group.

[0083] PDCU2 is responsible for cooling the entire vehicle. IDC5 and RIDC6 send thermal management messages (cooling application messages) to PDCU2 via PM15 and ADAS117. PDCU2 controls the fan and water pump to dissipate heat for the intelligent driving controller. To prevent thermal runaway, PDCU2 interacts with HVC3 on PM15 when the vehicle is powered off. PDCU2 periodically wakes itself up and performs wake-up checks on PM15. To prevent the intelligent driving controller from being awakened by PDCU2 and HVC3 during inspections, the intelligent driving controller is designed to not be awakened by network management messages from PM15.

[0084] ADAS117, as the network management access point for IDC5, RIDC6, and IFC7, is developed according to AUTOSAR network management and supports network wake-up and the sending and receiving of network management and application messages within the network segment. Wake-up sources include network management messages, KL15, and local events (local event internal interface).

[0085] FR8, CR (CR_L9 and CR_R10), and RSDS (RSDS_L11 and RSDS_R12) have no network management. They wake up on power-up and sleep on power-down. They are all powered by the vehicle's power supply 15. FR8, CR_L9, and CR_R10 cease operation when power 15 is disconnected. RSDS_L11 and RSDS_R12 are connected to the 30B power supply. After power is removed, GW1 maintains the 30B relay's delayed energization for 3 minutes before powering off, maintaining the door open warning function when the vehicle is powered off.

[0086] The ECUs on the PM15 and RE16 are not designed to be awakened by network management or application messages on the PM15 and RE16. After the IDC5 and RIDC6 are normally awakened by the GW1 on the ADAS117, the intelligent driving controller sends network management messages on the PM15 and RE16 to maintain demand for the PDCU2 and IMU4. The IMU4 on the RE16 is designed to be awakened by network management messages, and the PDCU2 is designed to be awakened by network management messages on the PM15.

[0087] The ECUs on CS19, IF20, and RS21 are designed not to be awakened by these devices and only to send and receive application messages. To ensure simultaneous sleep, IDC5 and RIDC6 will not require sleep from ADAS117. When sleep is required, they will stop sending messages to ADAS1 and will also stop sending messages to RE16 and PM15, allowing simultaneous sleep for all ECUs on CS19, IF20, and RS21.

[0088] The vehicle control system of the above embodiment is used to implement the corresponding vehicle control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0089] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and runnable on the processor, and when the processor executes the program, it implements the vehicle control method of any of the above embodiments.

[0090] FIG6 shows a more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment. The device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are communicatively connected to each other within the device via the bus 1050.

[0091] The processor 1010 can be implemented using a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0092] The memory 1020 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage devices, dynamic storage devices, etc. The memory 1020 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

[0093] The input / output interface 1030 is used to connect input / output modules to implement information input and output. The input / output modules can be configured as components within the device (not shown in the figure) or can be externally connected to the device to provide corresponding functions. Input devices may include a keyboard, mouse, touch screen, microphone, various sensors, etc., and output devices may include a display, speaker, vibrator, indicator light, etc.

[0094] The communication interface 1040 is used to connect to a communication module (not shown) to enable communication between the device and other devices. The communication module can communicate via a wired method (such as USB, network cable, etc.) or a wireless method (such as mobile network, WiFi, Bluetooth, etc.).

[0095] The bus 1050 comprises a path for transmitting information between the various components of the device (eg, the processor 1010 , the memory 1020 , the input / output interface 1030 , and the communication interface 1040 ).

[0096] It should be noted that although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040, and the bus 1050, in a specific implementation, the device may also include other components necessary for normal operation. In addition, it will be understood by those skilled in the art that the above device may only include the components necessary to implement the embodiments of this specification, and does not necessarily include all the components shown in the figure.

[0097] The electronic device of the above embodiment is used to implement the corresponding vehicle control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0098] Based on the same inventive concept, corresponding to any of the above embodiments and methods, the present application also provides a vehicle, which includes a vehicle control system as in any of the above embodiments or an electronic device as in any of the above embodiments.

[0099] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides a computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable a computer to execute the vehicle control method described in any of the above embodiments.

[0100] The computer-readable media of this embodiment include permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0101] The computer instructions stored in the storage medium of the above embodiments are used to enable a computer to execute the vehicle control method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0102] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application (including the claims) is limited to these examples. Within the scope of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0103] In addition, for simplicity of description and discussion, and in order not to make the embodiment of the application difficult to understand, the known power supply / ground connection with integrated circuit (IC) chip and other components may or may not be shown in the accompanying drawings provided. In addition, the device can be shown in the form of a block diagram to avoid making the embodiment of the application difficult to understand, and this also takes into account the following fact, that is, the details of the embodiment of these block diagram devices are highly dependent on the platform to be implemented in the embodiment of the application (that is, these details should be fully within the scope of understanding of those skilled in the art). When specific details (for example, circuit) are set forth to describe exemplary embodiments of the application, it will be apparent to those skilled in the art that the embodiment of the application can be implemented without these specific details or when these specific details are changed. Therefore, these descriptions should be considered to be illustrative rather than restrictive.

[0104] Although the present invention has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those skilled in the art based on the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may utilize the embodiments discussed.

[0105] The embodiments of the present application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the scope of protection of this application.

Claims

1. A vehicle control method, characterized in that: Applied to an intelligent driving controller, the method comprises: In response to determining that the vehicle has been powered off and receiving a thermal runaway inspection message sent by a power domain controller on a first private bus, the vehicle remains dormant; wherein the first private bus is used to connect the power domain controller and the intelligent driving controller.

2. The method according to claim 1, characterized in that The method further comprises: It is started when a vehicle wake-up network message sent by the gateway is received on the first public bus, and an electronic control unit wake-up message is sent on the second private bus to start the first electronic control unit group; wherein, the first public bus is used to connect the intelligent driving controller and the gateway, and the second private bus is used to connect the intelligent driving controller and the first electronic control unit group.

3. The method according to claim 2, characterized in that After the vehicle wake-up network message sent by the gateway is received on the first common bus and then started, the method further includes: In response to determining that the intelligent driving controller is in a thermal runaway state, a cooling application message is generated, and the cooling application message is sent to the gateway on the first common bus, so that the gateway sends the cooling application message to the power domain controller through the second common bus, so that the power domain controller controls the cooling device to cool the intelligent driving controller; wherein the second common bus is used to connect the power domain controller and the gateway.

4. The method according to claim 1, characterized in that The first private bus is connected to the power domain controller, the high voltage control unit and the intelligent driving controller, and the response to determining that the vehicle has been powered off and receiving a thermal runaway inspection message sent by the power domain controller on the first private bus, then remaining dormant includes: In response to determining that the vehicle has been powered off and receiving a network management message in the thermal runaway inspection message on the first private bus, remaining dormant; The power domain controller is configured to send the thermal runaway inspection message on the first private bus according to the thermal runaway inspection cycle.

5. The method according to claim 1, characterized in that: The first private bus is connected to the power domain controller, the high voltage control unit and the intelligent driving controller, and the response to determining that the vehicle has been powered off and receiving a thermal runaway inspection message sent by the power domain controller on the first private bus, then remaining dormant includes: In response to determining that the vehicle is powered off and receiving the thermal runaway detection signal on the first private bus The application message in the message remains dormant; The power domain controller is configured to send the thermal runaway inspection message on the first private bus according to the thermal runaway inspection cycle.

6. A vehicle control method, characterized in that: Applied to a gateway, the method comprises: Receive a vehicle wake-up network message sent by the power domain controller through the second public bus; wherein the second public bus is used to connect the gateway and the power domain controller; the vehicle wake-up network message is sent when the power domain controller receives an abnormal application message sent by the high-voltage control unit through the first private bus, and the abnormal application message is generated when the high-voltage control unit fails the thermal runaway inspection after being awakened, and the high-voltage control unit is awakened when receiving the network management message in the thermal runaway inspection message sent by the power domain controller through the first private bus, and the intelligent driving controller remains dormant in response to receiving the thermal runaway inspection message on the first private bus, and the first private bus is used to connect the power domain controller, the high-voltage control unit and the intelligent driving controller.

7. The method according to claim 6, characterized in that The method further comprises: In response to determining that the vehicle is powered off, the second electric control unit group is controlled to be powered off based on the first common bus, the third electric control unit group is controlled to be connected to the battery based on the third common bus, and the third electric control unit group is controlled to be disconnected from the battery after a first preset time; wherein the gateway, the intelligent driving controller and the second electric control unit group are connected through the first common bus, and the gateway is connected to the third electric control unit group through the third common bus.

8. The method according to claim 6, characterized in that The method further comprises: In response to determining that the vehicle is powered off, the sending of management application messages on the first public bus and the second public bus is stopped, so that the intelligent driving controller stops sending detection application messages on the first private bus and enters sleep in response to determining that the management application message on the first public bus has not been received within a second preset time period, so that the power domain controller enters sleep in response to determining that the management application message on the second public bus and the detection application message on the first private bus have not been received within a third preset time period, and wakes up according to the thermal runaway inspection cycle; wherein, the first public bus is used to connect the gateway and the intelligent driving controller.

9. A vehicle control system, characterized in that: include: Intelligent driving controller, power domain controller and gateway; The power domain controller and the intelligent driving controller are connected via a first private bus; the intelligent driving controller and the gateway are connected via a first public bus; the power domain controller The device and the gateway are connected via a second common bus; The power domain controller is configured to: in response to determining that the vehicle has been powered off, send a thermal runaway inspection message on the first private bus; in response to receiving an abnormal application message, send a vehicle wake-up network message on the second public bus; The intelligent driving controller is configured to: remain dormant in response to receiving a thermal runaway inspection message on the first private bus; wake up when receiving a vehicle wake-up network message sent by the gateway on the first public bus; The gateway is configured to: receive the whole vehicle wake-up network message on the second common bus, and send the whole vehicle wake-up network message on the first common bus.

10. The system according to claim 9, characterized in that Also includes: High voltage control unit; Wherein, the power domain controller, the high-voltage control unit and the intelligent driving controller are connected to each other via the first private bus; The high-voltage control unit is configured to: wake up when receiving a network management message in the thermal runaway inspection message on the first private bus, and perform a thermal runaway inspection operation in response to receiving an application message in the thermal runaway inspection message on the first private bus; in response to failing the thermal runaway inspection, send an abnormal application message to the power domain controller via the first private bus.

11. The system according to claim 10, characterized in that The power domain controller is also configured to: in response to determining that the vehicle has been powered off, send a network management message in the thermal runaway inspection message on the first private bus to wake up the high-voltage control unit; in response to determining to wake up the high-voltage control unit, send an application message in the thermal runaway inspection message on the first private bus to enable the high-voltage control unit to perform a thermal runaway inspection operation.

12. The system according to claim 9, characterized in that Also includes: A first electric control unit group, a second electric control unit group, and a third electric control unit group; Among them, the second electronic control unit group, the intelligent driving controller and the gateway are interconnected through the first public bus, and the third electronic control unit group and the gateway are interconnected through the third public bus; the first electronic control unit group and the intelligent driving controller are interconnected through the second private bus, the second electronic control unit group and the intelligent driving controller are connected to each other through the third private bus, and the third electronic control unit group and the intelligent driving controller are connected to each other through the fourth private bus.

13. The system according to claim 12, characterized in that Also includes: High voltage control unit; The power domain controller is configured to: in response to receiving an abnormal application message sent by the high-voltage control unit on the first private bus, send a vehicle wake-up network message to the gateway on the second public bus. Network message to wake up the gateway; The gateway is configured to: in response to receiving a vehicle wake-up network message on the second common bus, wake up the intelligent driving controller and the second electronic control unit group connected to the gateway through the first common bus based on the vehicle wake-up network message, and wake up the third electronic control unit group connected to the gateway through the third common bus; The intelligent driving controller is configured to: in response to receiving a vehicle wake-up network message sent by the gateway on the first public bus, wake up a first electronic control unit group connected to the intelligent driving controller through the second private bus.

14. The system according to claim 12, characterized in that The gateway is further configured to: send a cooling application message to the power domain controller through the second common bus; wherein the cooling application message is generated and fed back to the gateway when any one of the intelligent driving controller, the first electric control unit group, the second electric control unit group, and the third electric control unit group is in a thermal runaway state; The power domain controller is configured to: in response to receiving the cooling application message sent by the gateway on the second common bus, control the cooling device to perform cooling processing.

15. A vehicle, characterized in that: The vehicle comprises a vehicle control system as claimed in any one of claims 9 to 14.

Images