Control method and apparatus, and electronic device, medium and vehicle

Abstract

Provided in the present application are a control method and apparatus, and an electronic device, a medium and a vehicle. The control method is executed by a first controller, and comprises: acquiring fault detection information, wherein the fault detection information is used for indicating whether the first controller can receive information sent by a second controller; on the basis of the fault detection information, determining role information of the first controller, wherein the role information is used for indicating that the controller identity is a primary controller or a backup controller; and on the basis of the role information of the first controller, determining a limiting execution instruction of the first controller. By means of flexibly determining the controller identity of a first controller on the basis of fault information of the first controller, the method of the present application avoids the problem of it being impossible to accurately determine a limiting execution instruction due to the fixed controller identity in the event of a communication failure between controllers, thereby improving the security and availability of a control system.

Description

Control method and device, electronic device, medium and vehicle

[0001] Cross-reference to related applications

[0002] The present application claims priority to the Chinese patent application No. 202410735112.5, filed on June 6, 2024, and entitled “Control method and device, electronic device, medium and vehicle”, the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present application relates to the field of control, and in particular to a control method and device, electronic device, medium and vehicle. BACKGROUND

[0004] A system with a redundant architecture, i.e., a multi- (or dual-) controller system including a primary controller and a backup controller, communicates between the primary controller and the backup controller to transfer relevant control signals and status signals. For example, a steer-by-wire (SBW) system uses electrical signals to realize the transmission of force and movement between actuators, i.e., a handwheel actuator (HWA) issues an angle command to a roadwheel actuator (RWA), and the RWA feeds back a rack force to the HWA after tracking the angle, and the HWA controls the hand feeling according to the feedback of the rack force. A control system with a redundant architecture still has control capability after any single point failure.

[0005] Generally, a scheme for generating control instructions of the primary controller and the backup controller is to use a “master-slave” software control architecture, i.e., the primary controller generates full control instructions, and through communication interaction, part of the full control instructions is sent to the backup controller as control instructions of the backup controller, and the remaining part is used as control instructions of the primary controller. However, in this framework, the identity of the controller is bound, and when there is a communication failure between the backup controller and the primary controller, the backup controller cannot obtain control instructions from the primary controller, which will cause control failure and certain safety hazards. SUMMARY

[0006] The present application provides a control method and device, electronic device, medium and vehicle to realize flexible determination of the identity of the controller, thereby avoiding the problem that the execution instructions cannot be accurately determined due to the fixed identity of the controller when there is a communication failure between the controllers, and improving the safety and availability of the control system.

[0007] The first aspect of the embodiments of the present application provides a control method, which is executed by a first controller and includes: obtaining fault detection information, the fault detection information being used to indicate whether the first controller can receive information sent by a second controller; role information of the first controller can be determined according to the fault detection information, the role information being used to indicate whether the controller is a primary controller or a backup controller; and a limit execution instruction of the first controller is determined according to the role information of the first controller.

[0008] In some embodiments of the present application, determining the role information of the first controller according to the fault detection information includes: when it is determined according to the fault detection information that the first controller cannot receive information of the second controller, the first controller is determined as the primary controller; and when it is determined according to the fault detection information that the first controller can receive information of the second controller, role information of the second controller is obtained to determine the role information of the first controller.

[0009] In some embodiments of the present application, obtaining the role information of the second controller to determine the role information of the first controller includes: when the second controller is the primary controller, the first controller is determined as the backup controller; and when the second controller is the backup controller, the first controller is determined as the primary controller.

[0010] In some embodiments of the present application, determining the limit execution instruction of the first controller according to the role information of the first controller includes: obtaining control indication information, the control indication information being used to indicate adjustment of a driving parameter; determining a first controller original control instruction according to the indication information; receiving instruction distribution information sent by the second controller, the instruction distribution information at least including a second controller original control instruction generated by the second controller according to the control indication information; and determining the limit execution instruction by using the first controller original control instruction or by receiving the instruction distribution information sent by the second controller according to the role information of the first controller.

[0011] In some embodiments of the present application, determining the limit execution instruction by using the first controller original control instruction or by using the second controller original control instruction according to the role information of the first controller includes: when the first controller is the primary controller, the limit execution instruction is determined by using the first controller original control instruction; and when the first controller is the backup controller, the limit execution instruction is determined by receiving the instruction distribution information sent by the second controller.

[0012] In some embodiments of the present application, when the first controller is the primary controller, the limit execution instruction is determined by using the first controller original control instruction, which includes: obtaining environment information of the first controller; determining a calculation execution instruction of the first controller by using a preset distribution rule according to the first controller original control instruction; and determining the limit execution instruction by using a capability limit generated by the environment information according to the calculation execution instruction.

[0013] In some embodiments of the application, when the first controller identity is a backup controller, the determining the limit execution instruction by receiving the instruction distribution information sent by the second controller comprises: obtaining environment information of the first controller; determining the distribution execution instruction of the first controller by using a preset distribution rule according to the original control instruction of the second controller in the instruction distribution information; and determining the limit execution instruction according to the distribution execution instruction and the capability limit generated by the environment information.

[0014] The second aspect of the application provides a control device, comprising: an obtaining module configured to obtain fault detection information, the fault detection information being used to indicate whether the first controller can receive information sent by the second controller; a first determining module configured to determine role information of the first controller according to the fault detection information, the role information being used to indicate whether the controller identity is a primary controller or a backup controller; and a second determining module configured to determine a limit execution instruction of the first controller according to the role information of the first controller.

[0015] The third aspect of the application provides an electronic device, comprising: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method of any one of the first aspect of the application.

[0016] The fourth aspect of the application provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a computer to execute the method of the first aspect of the application.

[0017] The fifth aspect of the application provides a vehicle comprising the device of the second aspect of the application or the electronic device of the third aspect of the application.

[0018] In summary, according to the control method provided by the application, the control method is executed by the first controller and comprises: obtaining fault detection information, the fault detection information being used to indicate whether the first controller can receive information sent by the second controller; determining role information of the first controller according to the fault detection information, the role information being used to indicate whether the controller identity is a primary controller or a backup controller; and determining a limit execution instruction of the first controller according to the role information of the first controller. The method of the application flexibly determines the controller identity of the first controller according to the fault information of the first controller, avoids the problem that the limit execution instruction cannot be accurately determined due to the fixed controller identity when the communication between the controllers fails, and improves the safety and availability of the control system.

[0019] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory and are not restrictive of the application. The foregoing description, for purposes of explanation, only is to be regarded as illustrative in nature and is not intended to limit the scope of the application as it is defined in the claims. The following detailed description is presented to make such BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings required to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0021] The drawings herein are incorporated into the specification and form part of the specification, show embodiments consistent with the present application, and together with the specification serve to explain the principles of the present application, and do not constitute undue limitations on the present application.

[0022] FIG. 1 is a control system architecture diagram of an embodiment of the present application;

[0023] FIG. 2 is a flowchart of an embodiment of the control method of the present application;

[0024] FIG. 3 is a flowchart of another embodiment of the control method of the present application;

[0025] FIG. 4 is a flowchart of another embodiment of the control method of the present application;

[0026] FIG. 5 is a control system architecture diagram of an embodiment of the controller of the present application;

[0027] FIG. 6 is a flowchart of an embodiment of the control method of the present application;

[0028] FIG. 7 is a flowchart of another embodiment of the control method of the present application;

[0029] FIG. 8 is a structural schematic diagram of a control device of an embodiment of the present application;

[0030] FIG. 9 is a block diagram of an electronic device for implementing the control method of the present application according to an exemplary embodiment. DETAILED DESCRIPTION

[0031] To make the purposes, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application. The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the drawings, in which the same or similar notations identify the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0032] The present application aims to provide a control method and device, electronic equipment, medium, and vehicle capable of flexibly determining a controller identity, so as to avoid the problem that when communication between controllers fails, the fixed controller identity causes the execution instruction to be unable to be accurately determined, and improve the safety and availability of the control system.

[0033] The method provided by the present application can be widely applied to vehicle driving, vehicle auxiliary driving, unmanned driving, vehicle electronic control, and the like. The application scenarios in the embodiments of the present application are not limited.

[0034] The background technology and scenarios of the method of the present application are described below.

[0035] As shown in FIG. 1, a steer by wire (Sbw) system adopting a redundant architecture is taken as an example for description, but the method of the present application is not limited thereto, and the method of the present application is also applicable to other control systems adopting a redundant architecture. The Sbw system cancels the intermediate shaft and adopts an electrical signal to realize the transmission of force and movement between actuators, that is, a handwheel actuator (HWA) issues an angle instruction to a roadwheel actuator (RWA), the RWA feeds back a rack force to the HWA after angle tracking, and the HWA performs hand feeling control according to the feedback of the rack force. In order to achieve steering capability after any single point failure, the HWA and / or RWA of the Sbw system usually adopts a hardware architecture of a master-backup controller. For example, the master controller and the backup controller perform communication interaction, and transmit relevant control signals and state signals; the master controller and the backup controller respectively perform response after 1 / 2 of the control instruction passes through an electrical drive circuit and an actuator.

[0036] Generally, the scheme to generate the master and backup controller control instructions is to use a "master-slave" software control architecture, that is, the master controller generates full control instructions, and through a certain distribution method, the redundant interaction channel formed by communication interaction 1 and communication interaction 2 is used for control, so that the full control instructions can be combined by the master controller and the backup controller to be executed together. For example, part of the full control instructions is sent to the backup controller, and the remaining part is converted into control instruction 1. The backup controller can also calculate the control instruction, but under the "master-slave" software control architecture, the role of the backup controller is "slave", and the control instruction calculated by itself is not used, but the control instruction transmitted by the master controller through the communication interaction channel is used to form control instruction 2.

[0037] However, under this framework, the distribution of control instructions is completed by communication interaction, which leads to a strong dependence of the drive-by-wire steering system on the communication between the master controller and the backup controller.

[0038] Hardware random failure or environmental interference can easily cause communication interaction to fail, even if redundant communication interaction is used to avoid the above failure, such as using redundant hardware as a second communication channel. However, from the software point of view, the probability of failure of redundant communication interaction is also very large. This is because the communication interaction module usually needs to do E2E check on the signal itself, for example, when the software scheduling of the master controller deviates, etc. Continuous loss of signals during transmission can occur, resulting in the backup controller detecting a fault on the opposite side signal (for the backup controller, the master controller is its opposite side), that is, the backup controller receives a failure of the transmission channel (it is particularly noted that when this failure occurs, the backup controller's sending channel to the master controller can be normal). On the other hand, the above communication interaction failure, although the hardware level is redundant, but a single point failure can trigger all redundant communication failures, for example, the communication interaction uses the same software underlying protocol stack, which can cause the two controllers to have a common cause failure. In summary, redundant communication failure can occur frequently.

[0039] The backup controller cannot obtain the control instruction from the main controller and thus cannot execute the control instruction, so its capability is completely wasted. In addition, the distribution of the control instruction of the current drive-by-wire steering system follows the traditional redundant steering method, without considering the particularity of the control algorithm in the drive-by-wire steering system, that is, the drive-by-wire algorithm often adopts closed-loop control, while the traditional steering (redundant steering) adopts torque open-loop control, which leads to the fact that, in order to enable the redundant steering to respond to the control instruction to the greatest extent, the technical means of relying on the environmental information of the opposite controller for the distribution of the control instruction is used in the drive-by-wire steering with special control scenarios. That is, in the drive-by-wire steering system, the environmental information of the opposite side or the limitation condition based on the environmental information needs to be received through communication interaction. Therefore, if the main controller cannot receive the communication information of the backup controller, even if it can send the control instruction to the backup controller, it will not be able to calculate the distribution of the control instruction to the backup controller due to the failure to receive the environmental information of the backup controller or the limitation condition based on the environmental information, and thus the backup controller cannot execute the control instruction, wasting its capability.

[0040] In summary, the communication interaction failure is relatively frequent in the control system adopting the redundant architecture. Once the communication failure exists between the controllers, due to the fixed identity of the controllers, the steering execution instruction (i.e., the above-mentioned limited execution instruction) of the controller cannot be accurately determined, which further leads to the fact that at least half of the capability of the control system is lost, the control failure is prone to occur, and the control system has certain safety hazards.

[0041] The control method provided in the present application will be described in detail below with reference to the accompanying drawings. The present method is applied to a drive-by-wire steering system as an example for description. It should be understood that the method of the present application can also be applied to a system with a redundant architecture, such as a wheel actuator or a steering wheel actuator, which is not limited in the present application.

[0042] FIG. 2 is a flowchart of a control method according to an embodiment of the present application. As shown in the embodiment of FIG. 2, the control method is executed by a first controller, and the method comprises the following steps:

[0043] In step 201, failure detection information is obtained.

[0044] In some embodiments, by obtaining the failure detection information, it is determined whether the first controller can receive the information sent by the second controller, which lays a foundation for determining the role information of the first controller.

[0045] In some embodiments, the device executing the method of the present application can determine the failure detection information of the first controller through a failure detection unit, but is not limited thereto, for example, the failure detection information can also be obtained through the background of the controller, and the method of obtaining the failure detection information is not limited in the present application.

[0046] In some embodiments, the fault detection information is used to indicate whether the first controller can receive information sent by the second controller.

[0047] In some embodiments, the first controller can be any controller in the control system, and the second controller can be any controller in the control system except the first controller.

[0048] In step 202, the role information of the first controller is determined according to the fault detection information.

[0049] In some embodiments, the role information of the first controller can be determined according to the fault detection information, so as to realize flexible determination of the role information of the first controller.

[0050] In some embodiments, when the first controller determines that the first controller cannot receive information of the second controller according to the fault detection information, the first controller can be determined as the master controller, so as to avoid the problem that when the first controller is configured as the backup controller in advance, the system capability is completely wasted due to the failure to receive the instruction distribution information, and the problem that the limitation execution instruction cannot be determined in time.

[0051] In some embodiments, when the first controller determines that the first controller can receive information of the second controller according to the fault detection information (i.e., when the fault does not affect the receiving function of the first controller), the first controller can obtain the role information of the second controller to determine the role information of the first controller.

[0052] In some embodiments, the role information is used to indicate whether the controller is a master controller or a backup controller, wherein the master controller can autonomously generate the limitation execution instruction, and the backup controller has the ability to autonomously generate the limitation execution instruction, but the backup controller only executes the limitation execution instruction generated after distribution by the master controller.

[0053] For details, refer to the embodiments shown in FIG. 3 and FIG. 4, which will not be described here.

[0054] In step 203, the limitation execution instruction of the first controller is determined according to the role information of the first controller.

[0055] The limitation execution instruction is a control instruction obtained based on the limitation of the environment information.

[0056] In some embodiments, the limitation execution instruction of the first controller can be determined according to the role information of the first controller, so that no matter whether the first controller is configured as the master controller or the backup controller in advance, the limitation execution instruction can be determined in time when the fault occurs, and the safety and availability of the control system are improved.

[0057] In some embodiments, when the role information of the first controller is the master controller, the first controller can determine the limit execution instruction of the first controller by obtaining control instruction information, wherein the control instruction information is used to indicate the adjustment of the driving parameter, such as the steering angle and / or the hand force input by the driver. For example, when the method is applied to a wheel actuator, the control instruction information is used to indicate the steering angle of the wheel; for example, when the method is applied to a steering wheel actuator, the control instruction information is used to indicate the steering angle of the steering wheel and the hand force input by the driver.

[0058] Specifically, the first controller can determine the first controller original control instruction according to the control instruction information, and then determine the limit execution instruction by using the first control information, the preset allocation rule and the environmental limit.

[0059] In other words, the first controller original control instruction is the unallocated original control instruction generated by the first controller according to the control instruction information when the first controller is the master controller, and the first controller original control instruction contains the sum of the torques that the first controller and the second controller should execute.

[0060] In some embodiments, when the role information of the first controller is the backup controller, the first controller can determine the limit execution instruction of the first controller by receiving the instruction allocation information sent by the second controller (i.e., the master controller). Specifically, the instruction allocation information at least includes the second controller original control instruction generated by the second controller according to the control instruction information, and then the limit execution instruction is determined by using the second control information, the preset allocation rule and the environmental limit. In other words, the instruction allocation information is used to determine the second controller original control instruction allocation rule, i.e., the instruction allocation information is used to indicate that part of the second controller original control instruction is allocated to the first controller, and another part of the second controller original control instruction is allocated to the second controller. For example, the instruction allocation information indicates that half of the torque in the second controller original control instruction is allocated to the first controller for execution, and the other half of the torque in the second controller original control instruction is allocated to the second controller for execution.

[0061] In other words, the second controller original control instruction is the unallocated original control instruction generated by the second controller according to the control instruction information when the second controller is the master controller, and the second controller original control instruction contains the sum of the torques that the first controller and the second controller should execute.

[0062] The limit execution instruction is a control instruction obtained based on the limit of the environmental information. The above limit execution instruction can be a control instruction obtained by adjusting the original control instruction according to the limit of the external environmental factor. The limit execution instruction can limit the control instruction by using the external environmental factor, and protect the control system.

[0063] The application adopts different methods to determine the limit execution instruction when the first controller identity is different, thereby expanding the application range of the method for determining the limit execution instruction and improving the stability of determining the limit execution instruction.

[0064] In summary, the control method proposed in the application is executed by a first controller and includes: obtaining fault detection information, the fault detection information being used to indicate whether the first controller can receive information sent by a second controller; determining role information of the first controller according to the fault detection information, the role information being used to indicate whether the controller is a primary controller or a backup controller; and determining a limit execution instruction of the first controller according to the role information of the first controller. The method of the application flexibly determines the controller identity of the first controller according to the fault information of the first controller, avoids the problem that the limit execution instruction cannot be determined in time and the system capability is completely wasted due to the fixed controller identity when the communication between the controllers fails, and improves the safety and availability of the control system.

[0065] FIG. 3 is a flowchart of a control method according to an embodiment of the application. Based on the embodiment shown in FIG. 2, the embodiment shown in FIG. 3 further includes that the control method includes:

[0066] In step 301, fault detection information is obtained.

[0067] In the application, the principle of step 301 is the same as that of step 201 in the embodiment shown in FIG. 2, and the related description can be referred to in FIG. 2, which is not repeated here.

[0068] In step 302, when it is determined according to the fault detection information that the first controller cannot receive information of the second controller, the first controller is determined as a primary controller.

[0069] In some embodiments, the fault detection information can directly show that the first controller cannot receive information of the second controller, but is not limited thereto. The fault detection information can only show specific components that have failed, and the first controller can determine whether the failed component will cause the first controller to be unable to serve as a primary controller by looking up a preconfigured fault corresponding relationship table.

[0070] In some embodiments, when the first controller determines according to the fault detection information that the first controller cannot receive information of the second controller, the first controller is determined as a primary controller, so as to ensure that the first controller can normally output a limit execution instruction when the first controller is previously configured as a backup controller, thereby improving the application range of the method and the safety of the controller system.

[0071] For example, after the controller is powered on and the system is initialized, the first controller is configured as a backup controller and the second controller is configured as a master controller. When the first controller determines that it cannot receive information from the second controller, the first controller is determined as a master controller. If the second controller can receive information from the first controller, the system is still a master-slave software control architecture. If the second controller can receive information from the first controller, the control system includes two master controllers.

[0072] In step 303, control indication information is obtained.

[0073] In some embodiments, the application does not limit the way of obtaining the control indication information. For example, when the method is applied to a wheel actuator, the indication information can be obtained through sensors of the wheel or steering system. For example, when the method is applied to a steering wheel actuator, the indication information can be obtained through sensors on the steering wheel actuator.

[0074] In some embodiments, the indication information is used to indicate the adjustment of the driving parameter (such as the steering angle). For example, when the method is applied to a wheel actuator, the indication information is used to indicate the steering angle of the wheel. For example, when the method is applied to a wheel actuator, the indication information is used to indicate the deflection angle of the wheel.

[0075] In step 304, the first controller original control instruction is determined according to the control indication information.

[0076] In some embodiments, the first controller can determine the torque required to achieve the steering angle in the control indication information according to the control indication information through self-computation, thereby generating the first controller original control instruction, wherein the control instruction is used to indicate the torque size.

[0077] But not limited to this, the first controller can determine the torque required to achieve the steering angle in the control indication information according to the relationship between the preset target angle and the steering angle through a tracking algorithm, thereby generating the control instruction. The application does not limit the method of determining the required torque.

[0078] In step 305, the restriction execution instruction is determined according to the role information of the first controller and the first controller original control instruction.

[0079] In some embodiments, since the first controller is a master controller, the first controller original control instruction can be used to generate the restriction execution instruction according to the role information that the first controller is a master controller.

[0080] Specifically, the generation steps are as follows:

[0081] Step 1) determining the calculation execution instruction of the first controller according to the first controller original control instruction and using the preset distribution rule.

[0082] In some embodiments, due to the large torque indicated in the first controller original control instruction, a single controller is not convenient to execute the torque indicated in the control instruction or consider the product cost, and generally multiple controllers are combined to execute the control instruction, so the preset distribution rule can be used to separate the torque indicated in the first controller original control instruction, and the first controller executes a part of the torque (i.e. the torque indicated in the calculation execution instruction), and the second controller executes another part of the torque.

[0083] For example, taking the example of the preset distribution rule that the primary controller and the backup controller each execute half of the torque, half of the torque in the control instruction can be determined as the torque required to be executed by the first controller, and the calculation execution instruction is generated according to the above-mentioned torque required to be executed, which is used to indicate the torque required to be executed by the first controller.

[0084] In some embodiments, the first controller can also subtract the torque in the control instruction from the determined torque required to be executed by the first controller, and send the difference to the second controller as the torque required to be executed by the second controller.

[0085] Step 2) obtaining the environment information of the first controller.

[0086] In some embodiments, by obtaining the environment information of the first controller, the calculation execution instruction is limited by the environment to avoid the situation that the temperature is too high and the load is too large caused by the calculation execution instruction, and the safety and stability of the controller system are improved.

[0087] In some embodiments, the greater the torque indicated in the calculation execution instruction, the greater the temperature and load generated by the first controller when executing the torque, and when the first controller itself is in a high temperature and high voltage state, executing a larger torque can make the temperature and load of the first controller exceed the safe range, at this time, in order to ensure the stability of the controller system, the torque indicated in the calculation execution instruction is reduced according to the environment information of the first controller, i.e. the calculation execution instruction is limited by the environment to avoid the situation that the temperature is too high and the load is too large caused by the calculation execution instruction.

[0088] In some embodiments, the external environment of the first controller can affect the execution capability of the first controller, for example, when the external environment temperature is too high, in order to avoid overheating of the first controller, the execution torque of the first controller can be limited.

[0089] In some embodiments, the first controller can obtain the environmental information through the sensor, wherein the environmental information at least includes temperature information and / or voltage information.

[0090] Step 3) determining the limited execution instruction according to the capability limit generated by the environmental information according to the calculation execution instruction.

[0091] In some embodiments, when the temperature of the first controller is too high, the voltage is too large, etc., to avoid overheating of the first controller, the torque in the calculation execution instruction can be adjusted by using the capability limit generated by the environmental information, wherein the adjusted calculation execution instruction is the limited execution instruction.

[0092] In other words, the capability limit is the limit of the maximum torque that the first controller can safely execute due to the external environmental factors of the first controller (i.e. the above environmental information). Accordingly, the above limited execution instruction refers to the instruction obtained by adjusting the control instruction based on the environmental information. The control instruction is limited by the environmental information to achieve the protection of the control system.

[0093] In summary, the control method provided by the embodiments of the present application comprises: obtaining fault detection information; determining the first controller as the master controller when it is determined that the first controller cannot receive the information of the second controller according to the fault detection information; obtaining control instruction information; determining the first controller original control instruction according to the control instruction information; receiving the instruction distribution information sent by the second controller, wherein the instruction distribution information at least includes the second controller original control instruction generated by the second controller according to the control instruction information; and determining the limited execution instruction by using the first controller original control instruction according to the role information of the first controller. The method of the present application determines the first controller as the master controller when the first controller cannot receive the information of the second controller, so that the first controller can still normally output the limited execution instruction when it is configured as the backup controller in advance, thereby improving the safety of the control system.

[0094] FIG. 4 is a flowchart of a control method according to an embodiment of the present application. Based on the embodiment shown in FIG. 2, further explanation is as follows: as shown in FIG. 4, the method comprises:

[0095] Step 401: obtaining fault detection information.

[0096] In the present application, the principle of step 401 is the same as that of step 201 in the embodiment shown in FIG. 2 and step 301 shown in FIG. 3, which can be referred to the related description of FIG. 2 and FIG. 3, and will not be repeated here.

[0097] Step 402: when it is determined that the first controller can receive the information of the second controller according to the fault detection information, obtaining the role information of the second controller to determine the role information of the first controller.

[0098] In some embodiments, when the failure of the first controller does not affect the reception of the second controller information by the first control, the first controller can determine the role information of the first controller by obtaining the role information of the second controller, so as to realize flexible determination of the role information of the first controller.

[0099] Specifically, when the second controller identity is the primary controller, the first controller identity is determined as the backup controller; when the second controller identity is the backup controller, the first controller identity is determined as the primary controller, so as to avoid the situation that the first controller and the second controller are both backup controllers, which causes the limitation execution instruction to be unable to be normally determined, and meanwhile, the situation that the first controller and the second controller are both primary controllers, which causes the determined limitation execution instruction to conflict and resource waste.

[0100] For example, when the prior configurations of the first controller and the second controller are both primary controllers, in order to avoid resource waste or generated limitation execution instruction conflict, the second controller can adjust its (i.e., the second controller) identity as the backup controller when the first controller identity is determined as the primary controller.

[0101] In step 403, control indication information is obtained.

[0102] In step 404, the first controller original control instruction is determined according to the control indication information.

[0103] In the present application, the principles of steps 403 and 404 are the same as those of steps 303 and 304 in the embodiment shown in FIG. 3, and can refer to the related description of FIG. 3, which will not be repeated here.

[0104] In step 405, the limitation execution instruction is determined according to the role information of the first controller, using the first controller original control instruction or by receiving the instruction distribution information sent by the second controller.

[0105] In some embodiments, the limitation execution instruction can be determined according to the role information of the first controller, using the first controller original control instruction or by receiving the instruction distribution information sent by the second controller, so that the limitation execution instruction can be determined by different methods according to different role information, thereby improving the application range of the present method.

[0106] In some embodiments, when the role information of the first controller is the primary controller, the limitation execution instruction of the first controller can be determined using the first controller original control instruction. For details, refer to the related description of step 305 shown in FIG. 3, which will not be repeated here.

[0107] In some embodiments, when the role information of the first controller is the backup controller (i.e., the second controller is the main controller), the first controller can also determine the limit execution instruction by receiving the instruction distribution information sent by the second controller, wherein the instruction distribution information at least includes the second controller original control instruction generated by the second controller according to the control instruction information.

[0108] The specific generation steps are as follows:

[0109] Step 1) According to the second controller original control instruction, the distribution execution instruction of the first controller is determined by using the preset distribution rule.

[0110] In some embodiments, due to the large torque indicated in the second controller original control instruction, a single controller cannot execute the torque indicated in the control instruction or two controllers are combined to execute the control instruction considering the product cost, so the preset distribution rule can be used to separate the torque indicated in the second controller original control instruction, and the first controller executes a part of the torque (i.e., the torque indicated by the distribution execution instruction), and the second controller executes another part of the torque.

[0111] For example, taking the preset distribution rule that the main controller and the backup controller each execute half of the torque as an example, half of the torque indicated in the second controller original control instruction can be determined as the torque required to be executed by the first controller, and the distribution execution instruction is generated according to the above-mentioned torque required to be executed. The distribution execution instruction is used to indicate the torque required to be executed by the first controller.

[0112] In some embodiments, the first controller can also subtract the torque in the control instruction from the determined torque required to be executed by the first controller, and send the difference to the second controller as the torque required to be executed by the second controller.

[0113] Step 2) Obtain the environment information of the first controller.

[0114] In some embodiments, by obtaining the environment information of the first controller, the distribution execution instruction is limited in the environment to avoid situations such as excessive temperature and excessive load caused by the distribution execution instruction, thereby improving the safety and stability of the controller system.

[0115] In some embodiments, the external environment of the first controller can affect the execution capability of the first controller, for example, when the external environment temperature is too high, the execution torque of the first controller can be limited to avoid overheating of the first controller.

[0116] In some embodiments, the first controller can obtain the environment information through a sensor, wherein the environment information at least includes temperature information and / or voltage information.

[0117] Step 3) determining the limited execution instruction according to the distribution execution instruction and the capability limit generated by the environment information.

[0118] In some embodiments, when the temperature of the first controller is too high, the voltage is too large, etc., to avoid overheating of the first controller, the torque in the distribution execution instruction can be adjusted by using the capability limit generated by the environment information, and the adjusted distribution execution instruction is the limited execution instruction.

[0119] In summary, in the embodiment shown in FIG. 4, the first controller can obtain the two control instructions of the first controller original control instruction and the second controller original control instruction, and then the first controller selects to determine the limited execution instruction by using the first controller original control instruction or the second controller original control instruction according to the role information of the first controller.

[0120] In summary, the control method provided by the embodiments of the present application is executed by the first controller, and the method comprises: obtaining fault detection information; when it is determined according to the fault detection information that the first controller can receive information of the second controller, obtaining role information of the second controller to determine role information of the first controller; obtaining control instruction information; determining a first controller original control instruction according to the control instruction information; and determining a limited execution instruction by using the first controller original control instruction or by receiving instruction distribution information sent by the second controller according to the role information of the first controller. The method of the present application determines the identity information of the first controller by obtaining the role information of the second controller when the first controller can receive information of the second controller, thereby realizing flexible determination of the identity information of the first controller, avoiding the problem that the second controller or the first controller cannot accurately determine the limited execution instruction due to fixed identity information, and improving the safety of the control system.

[0121] Therefore, the present application has the following beneficial effects:

[0122] The method of the present application flexibly determines the controller identity of the first controller according to the fault information of the first controller, avoids the problem that the limited execution instruction cannot be accurately determined due to fixed controller identity when communication failure occurs between controllers, and improves the safety and usability of the control system.

[0123] The following is an exemplary description of the method of the present application:

[0124] Figure 5 is a control system of steer-by-wire actuator including a first controller and a second controller, compared with prior art, the first controller and the backup controller increase a "role determination unit", which takes the relevant fault of the "fault detection unit" as input signal 1, and receives the opposite side information through the "inter-controller interaction unit" as input signal 2 of the "role determination unit". The relevant fault can include the receiving failure of the interaction channel detected by the local controller.

[0125] One implementation of the role determination is shown in Figure 6 as follows:

[0126] When the controller detects that the receiving end of the signal interaction channel (or an implementation of the redundant interaction channel) is completely failed, because the controller cannot receive the role information of the opposite side, the role of the controller itself is set to "master". The general implementation is to set the variable of SystemRole, which can be set to SystemRole = 1 when the system is "master" system, and SystemRole = 2 when the system is "slave" system. If the local system detects the failure of the signal interaction or the redundant signal interaction receiving channel, it actively sets the system as "master" system; if the local system does not detect the failure of the signal interaction or the redundant signal interaction receiving channel, that is, it can receive the role information of the opposite side controller from the signal interaction, then dynamically change its own role according to the role information of the opposite side, that is, when the SystemRole of the opposite side == 1, set the SystemRole of itself to 2, and when the SystemRole of the opposite side == 2, set the SystemRole of itself to 1. Then, the role information of the local side is sent through the information interaction channel between controllers, and consistent logic is also deployed in the opposite side system. In this way, the dynamic binding of the master / backup controller identity and the first / second controller device is realized.

[0127] After the "master" system realizes the dynamic binding during software execution, further, the "control command distribution unit" accesses the system role information (SystemRole) as input; at the same time, the opposite side control command receiving and the original control command obtained through the "inter-controller interaction unit" are added as input. The "control command distribution unit" is implemented in the manner of Figure 7, as follows:

[0128] The "control command distribution unit" has three inputs: input 1 is the original control command, input 2 is the local role information (master or slave), and input 3 is the opposite side control command receiving; two outputs: output 1 is the local control command, and output 2 is the opposite side control command sending. The unit first determines the role information:

[0129] When SystemRole = 1, it indicates that the local side is a "master" system, and then the local side control instruction = 1 / 2 * the local side original control instruction, and the opposite side control instruction sending = the local side original control instruction;

[0130] When SystemRole = 2, it indicates that the local side is a "slave" system, and then the local side control instruction = the opposite side control instruction receiving (that is, the local side control instruction is executed according to the output of the opposite side).

[0131] The local side control instruction output by the "control instruction distribution unit" is output to the "local side control instruction execution unit" for control instruction execution after passing through the "local side system capability limitation unit". Since the control instruction distributed by each side is not affected by the environmental factors collected by the opposite side, the environmental information of the opposite side or the capability limitation information generated by the environmental information does not need to be included in the communication interaction (or redundant communication interaction). When the main controller cannot receive the environmental information or the capability limitation information generated by the environmental information of the backup controller, but the signal sending channel of the main controller is normal, the main controller cannot issue a control instruction to the backup controller, and the system capability is wasted by half.

[0132] In summary, when the local side detects that all the receiving channels of the communication interaction (or redundant communication interaction) are invalid, the control instruction distribution of the opposite side can still be performed, and the distributed control instruction can still limit the system according to the system environment of the local side. In this way, even if the communication interaction (redundant communication interaction) is completely invalid, the system can still provide 100% control instruction execution capability. The system availability is maximized, and for a drive-by-wire steering actuator, sufficient assist capability can be provided when quickly changing lanes at high vehicle speed, so that the safety of the system is greatly improved.

[0133] Corresponding to the method provided in the above several embodiments, the application also provides a control device. Since the device provided in the embodiments of the application corresponds to the method provided in the above several embodiments, the implementation of the method is also applicable to the device provided in the embodiments of the application, which will not be described in detail in the embodiments.

[0134] FIG. 8 is a structural schematic diagram of a control device 800 according to an embodiment of the application. As shown in FIG. 8, the control device includes:

[0135] The acquisition module 810 is configured to acquire fault detection information, and the fault detection information is used to indicate whether the first controller can receive information sent by the second controller.

[0136] The first determination module 820 is configured to determine role information of the first controller according to the fault detection information, and the role information is used to indicate whether the controller is a master controller or a backup controller.

[0137] The second determining module 830 is configured to determine a limited execution instruction of the first controller according to the role information of the first controller, wherein the limited execution instruction is a control instruction obtained based on the limitation of the environment information.

[0138] In some embodiments, the first determining module 810 is further configured to determine the first controller as the master controller when it is determined according to the fault detection information that the first controller cannot receive information of the second controller, and to obtain the role information of the second controller to determine the role information of the first controller when it is determined according to the fault detection information that the first controller can receive information of the second controller.

[0139] In some embodiments, the first determining module 810 is further configured to determine the first controller as the backup controller when the second controller is the master controller, and to determine the first controller as the master controller when the second controller is the backup controller.

[0140] In some embodiments, the second determining module 830 is further configured to obtain control instruction information, wherein the control instruction information is used to indicate adjustment of a driving parameter, to determine a first controller original control instruction according to the control instruction information, and to determine the limited execution instruction according to the role information of the first controller and the first controller original control instruction or by receiving instruction distribution information sent by the second controller, wherein the instruction distribution information at least includes a second controller original control instruction generated by the second controller according to the control instruction information.

[0141] In some embodiments, the second determining module 830 is further configured to determine the limited execution instruction according to the first controller original control instruction when the first controller is the master controller, and to determine the limited execution instruction by receiving the instruction distribution information sent by the second controller when the first controller is the backup controller.

[0142] In some embodiments, the second determining module 830 is further configured to obtain environment information of the first controller, to determine a first controller calculation execution instruction according to the first controller original control instruction and by using a preset distribution rule, and to determine the limited execution instruction according to the calculation execution instruction and by using a capability limitation generated by the environment information.

[0143] In some embodiments, the second determining module 830 is further configured to obtain environment information of the first controller, to determine a first controller distribution execution instruction according to the second controller original control instruction in the instruction distribution information and by using a preset distribution rule, and to determine the limited execution instruction according to the distribution execution instruction and by using a capability limitation generated by the environment information.

[0144] To sum up, by the control device, comprising: an acquisition module, configured to acquire fault detection information, the fault detection information being used to indicate whether the first controller can receive information sent by the second controller; a first determination module, configured to determine role information of the first controller according to the fault detection information, the role information being used to indicate whether the controller is a master controller or a backup controller; and a second determination module, configured to determine a restriction execution instruction of the first controller according to the role information of the first controller. The device provided in the application can flexibly determine the controller identity of the first controller according to the fault information of the first controller, thereby avoiding the problem that the restriction execution instruction cannot be accurately determined due to the fixed controller identity when the communication between the controllers fails, and improving the safety of the control system.

[0145] The above describes the method and device provided in the embodiments of the application. In order to realize the functions of the method provided in the embodiments of the application, the electronic device can include a hardware structure and a software module, and realize the above functions in the form of the hardware structure, the software module, or the hardware structure plus the software module. Some of the above functions can be executed in the form of the hardware structure, the software module, or the hardware structure plus the software module.

[0146] The device embodiments described above are only schematic, and the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the embodiments. Those skilled in the art can understand and implement without creative labor.

[0147] FIG. 9 is a block diagram of an electronic device 900 for implementing the control method described above, according to an exemplary embodiment.

[0148] For example, the electronic device 900 can be a mobile phone, a computer, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, or the like.

[0149] Referring to FIG. 9, the electronic device 900 can include one or more of the following components: a processing component 902, a memory 904, a power supply component 906, a multimedia component 908, an audio component 910, an input / output (I / O) interface 912, a sensor component 914, and a communication component 916.

[0150] The processing component 902 generally controls the overall operations of the electronic device 900, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 902 can include one or more processors 620 to execute instructions to complete the steps of the methods described above, in whole or in part. Moreover, the processing component 902 can include one or more modules to facilitate the interaction between the processing component 902 and other components. For example, the processing component 902 can include a multimedia module to facilitate the interaction between the multimedia component 908 and the processing component 902.

[0151] The memory 904 is configured to store various types of data to support the operations of the electronic device 900. Examples of these data include instructions to operate any applications or methods on the electronic device 900, contact data, phonebook data, messages, pictures, videos, and so on. The memory 904 can be realized by any type of volatile or nonvolatile storage devices or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disc, or optical disc.

[0152] The power component 906 provides power to the various components of the electronic device 900. The power component 906 can include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the electronic device 900.

[0153] The multimedia component 908 includes a screen to provide an output interface between the electronic device 900 and a user. In some embodiments, the screen can include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes the touch panel, the screen can be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense a touch, a slide, and a gesture on the touch panel. The touch sensor can not only sense a boundary of a touching or sliding action, but also detect duration and pressure related to the touching or sliding action. In some embodiments, the multimedia component 908 includes a front camera and / or a back camera. The front camera and / or the back camera can receive external multimedia data when the electronic device 900 is in an operating mode, such as a shooting mode or a video mode. Each of the front camera and the back camera can be a fixed optical lens system or have a focal length and optical zoom capability.

[0154] The audio component 910 is configured to output and / or input audio signals. For example, the audio component 910 includes a microphone (MIC) that is configured to receive an external audio signal when the electronic device 900 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signal can be further stored in the memory 904 or transmitted via the communication component 916. In some embodiments, the audio component 910 also includes a speaker for outputting audio signals.

[0155] The I / O interface 912 provides an interface between the processing component 902 and peripheral interface modules, which can be a keypad, a click wheel, buttons, and the like. The buttons can include, but are not limited to, a home button, a volume button, a start button, and a lock button.

[0156] The sensor component 914 includes one or more sensors for providing status assessments of various aspects of the electronic device 900. For example, the sensor component 914 can detect an open / closed position of the electronic device 900, relative positioning of components, such as a display and a keypad of the electronic device 900, a change of position of the electronic device 900 or a component of the electronic device 900, presence or absence of user contact with the electronic device 900, orientation or acceleration / deceleration / g-force and temperature of the electronic device 900. The sensor component 914 can include a proximity sensor configured to detect presence of a nearby object without any physical touch. The sensor component 914 can also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor component 914 can also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0157] The communication component 916 is configured to facilitate wired or wireless communication between the electronic device 900 and other devices. The electronic device 900 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, 4G LTE, 5G NR (New Radio), or a combination thereof. In an example embodiment, the communication component 916 receives broadcast signals or broadcast-related information from an external broadcasting management system via a broadcast channel. In an example embodiment, the communication component 916 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technology.

[0158] In an exemplary embodiment, the electronic device 900 can be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, micro-controllers, microprocessors, or other electronic elements for performing the above-described methods.

[0159] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions, for example, the memory 904 including instructions, is also provided, which can be executed by the processor 620 of the electronic device 900 to complete the above-described method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0160] Embodiments of the present application also provide a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to make a computer execute the control method described in the above embodiments of the present application.

[0161] Embodiments of the present application also provide a vehicle including the control device as described above or the electronic device as described above.

[0162] It should be understood that the method proposed by the present application can not only be used in the steering field, but also be used in a redundant controller using communication interaction, which is not limited by the present application.

[0163] It should be noted that the terms "first", "second", and the like in the description of the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all the embodiments consistent with the present application. Rather, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0164] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the specification, the exemplary description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0165] Any process or method described in flowcharts or otherwise described herein can be understood as representing a module, segment, or portion of code that includes one or more executable instructions for implementing specific logical functions or steps, and the various embodiments of the application can include additional or fewer steps performing the described functions in the illustrated or discussed order, including substantially simultaneous execution of the functions according to the associated functionality, or in reverse order as should be understood by those having ordinary skill in the art to which the embodiments of the application pertain.

[0166] The logic and / or steps represented in flowcharts or otherwise described herein, for example, can be considered as a list of executable instructions for implementing the logic function, and can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor- containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. The computer-readable medium can be a product of the manufacturing and / or processing, and can be a machine-readable storage medium (alternatively, the medium can be a machine-readable signal medium). The computer-readable medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium include the following: an electrical connection having one or more wires (control method), a portable computer diskette (magnetic storage), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, and a portable compact disc read-only memory (CDROM). Note that the computer-readable medium can even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, for example, via the optical scanner of a device or device, then compiled, interpreted, or otherwise processed in a suitable manner, if necessary, and stored in a computer memory.

[0167] It should be understood that aspects of the embodiments of the present application can be implemented in hardware, software, firmware, or combinations thereof. In the above embodiments, various steps or methods can be implemented in software or firmware that is stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, and in another embodiment, any of the following technologies, known in the art, or their combinations can be used: discrete logic circuitry having logic gates for implementing logic functions on data signals, application specific integrated circuits having appropriate combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), and the like.

[0168] Those skilled in the art can understand that all or part of the steps of the method carried out by the above-mentioned embodiments can be instructed by a program to relevant hardware, and the program can be stored in a computer readable storage medium. When the program is executed, it includes one of the steps of the method embodiments or a combination thereof.

[0169] In addition, each functional unit in each embodiment of the present application can be integrated into one processing module, or each unit can exist physically independently, or two or more units can be integrated into one module. The integrated module can be realized in the form of hardware or in the form of a software functional module. If the integrated module is realized in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer readable storage medium. The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0170] Although the embodiments of the present application have been shown and described above, it should be understood that the above-mentioned embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above-mentioned embodiments within the scope of the present application.

Claims

1. A control method, wherein, The method is executed by a first controller, comprising: obtaining fault detection information, the fault detection information being used to indicate whether the first controller can receive information sent by a second controller; determining role information of the first controller according to the fault detection information, the role information being used to indicate whether a controller is a primary controller or a backup controller; determining a limit execution instruction of the first controller according to the role information of the first controller, the limit execution instruction being a control instruction obtained based on a limit of environment information.

2. The method of claim 1, wherein, The determining of the role information of the first controller according to the fault detection information comprises: when it is determined according to the fault detection information that the first controller cannot receive information of the second controller, determining the first controller as the primary controller; when it is determined according to the fault detection information that the first controller can receive information of the second controller, obtaining role information of the second controller to determine the role information of the first controller.

3. The method of claim 2, wherein, The obtaining of the role information of the second controller to determine the role information of the first controller comprises: when the second controller is the primary controller, determining the first controller as the backup controller; or when the second controller is the backup controller, determining the first controller as the primary controller.

4. The method according to any one of claims 1 to 3, wherein, The determining of the limit execution instruction of the first controller according to the role information of the first controller comprises: obtaining control instruction information, the control instruction information being used to indicate adjustment of a driving parameter; determining a first controller original control instruction according to the control instruction information; determining the limit execution instruction by using the first controller original control instruction or by receiving instruction distribution information sent by the second controller according to the role information of the first controller, the instruction distribution information at least comprising a second controller original control instruction generated by the second controller according to the control instruction information.

5. The method of claim 4, wherein, The determining of the limit execution instruction by using the first controller original control instruction or by receiving instruction distribution information sent by the second controller according to the role information of the first controller comprises: when the first controller is the primary controller, determining the limit execution instruction by using the first controller original control instruction; or when the first controller is the backup controller, determining the limit execution instruction by receiving the instruction distribution information sent by the second controller.

6. The method of claim 5, wherein, The determining of the limit execution instruction by using the first controller original control instruction when the first controller is the primary controller comprises: obtaining environment information of the first controller; determining a calculation execution instruction of the first controller by using a preset distribution rule according to the first controller original control instruction; determining the limit execution instruction according to a capability limit generated by the environment information according to the calculation execution instruction.

7. The method of claim 5 or 6, wherein, The determining the limit execution instruction when the first controller identity is the backup controller comprises: obtaining environment information of the first controller; determining an assigned execution instruction of the first controller according to a second controller original control instruction in the instruction assignment information and by using a preset assignment rule; determining the limit execution instruction according to a capability limit generated by the environment information.

8. A control device, wherein, The apparatus comprises: an obtaining module, configured to obtain fault detection information, the fault detection information being used to indicate whether the first controller can receive information sent by a second controller; a first determining module, configured to determine role information of the first controller according to the fault detection information, the role information being used to indicate whether a controller identity is a primary controller or a backup controller; a second determining module, configured to determine a limit execution instruction of the first controller according to the role information of the first controller, the limit execution instruction being a control instruction obtained based on a limit of environment information.

9. An electronic device, comprising: comprise: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.

10. A non-transitory computer readable storage medium having stored thereon computer instructions, wherein, The computer instructions are used to enable the computer to perform the method of any one of claims 1-7.

11. A vehicle, wherein, comprise the control apparatus of claim 8 or the electronic device of claim 9.

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