CN105564439A - Vehicle control method and system - Google Patents

Vehicle control method and system Download PDF

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Publication number
CN105564439A
CN105564439A CN201511018059.4A CN201511018059A CN105564439A CN 105564439 A CN105564439 A CN 105564439A CN 201511018059 A CN201511018059 A CN 201511018059A CN 105564439 A CN105564439 A CN 105564439A
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China
Prior art keywords
ecu
node
vehicle
control command
class
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CN201511018059.4A
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Chinese (zh)
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CN105564439B (en
Inventor
唐启富
黄少堂
杨毅
冉光伟
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Guangzhou Automobile Group Co Ltd
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Guangzhou Automobile Group Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0026—Lookup tables or parameter maps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/65—Data transmitted between vehicles

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Small-Scale Networks (AREA)

Abstract

The invention relates to a vehicle control method and a vehicle control system. The vehicle control system comprises the following steps: receiving remote control data and analyzing the remote control data to obtain ECU (Electronic Control Unit) node information; searching the ECU node information for a control command of each ECU node according to an ECU class linked list, wherein the ECU class linked list comprises a unique code of each ECU node; analyzing the control command of each of the ECU nodes, and searching a ECU node method linked list corresponding to the ECU nodes for an executing method of each control command of the ECU node; executing each control command of the ECU node according to the corresponding executing method so as to control the vehicle. According to the vehicle control method and the vehicle control system, the modularization and simplification of a development process are realized by similar concepts, the workload of a development process is greatly reduced, simultaneously, a very good control effect on the risk in the development process is also achieved, the error probability is reduced, and the stability and the safety of the vehicle control system are enhanced.

Description

Control method for vehicle and system
Technical field
The present invention relates to technical field of automotive electronics, particularly relate to a kind of control method for vehicle and system.
Background technology
Same vehicle has different configurations usually; according to the ECU (ElectronicControlUnit that the different vehicle of configuration configures; electronic control unit) interstitial content is also different, can reach by controlling these ECU nodes the object controlling vehicle.Technically, the control command that different ECU nodes receives is not identical with the method for processing controls order.One of them ECU node receives external control data, these data of specific program process again according to other ECU nodes after resolving these control datas, then different ECU node executive commands is controlled, and the difference of action performed by the change of ECU interstitial content and different ECU node, how well processing these data and being unlikely to confusion just needs emphasis to consider.Along with the vehicle of exploitation gets more and more, time-to-market is shorter and shorter, how to process this otherness faster and just seems particularly important.Moreover from the angle of exploitation, development requirement likely can change continually, so how tackling this change is also the most important thing in development process.
Usually, in order to shorten time-to-market, mostly development approach and strategy are to transplant from existing platform.So methods and strategies will be made on stream to have well agreeing with property, transplantability and extendability as far as possible, also to ensure stability and the safety of system simultaneously.
In order to process different situations, current a lot of control method for vehicle is all the method with branch's redirect, and each ECU node takies a redirect branch, namely shows as " ifelse " in embedded type C language, or even " switchcase ".Judge which ECU node is control command belong to, and then jumps to the process code of this ECU node like this when receiving external control order.When vehicle control system needs ECU node to be processed less, use the method for branch's redirect can control effectively to vehicle.If but when vehicle control system ECU to be dealt with number of nodes is more, uses the method for branch redirect that control probability of makeing mistakes can be caused greatly to increase, be unfavorable for controlling safely and steadly vehicle.
Summary of the invention
Based on this, for solving the problems of the prior art, the invention provides a kind of control method for vehicle and system, improving stability and the safety of vehicle control system.
For achieving the above object, the embodiment of the present invention is by the following technical solutions:
Based on a control method for vehicle for multiple ECU node, comprise the steps:
Receive remote control data, and described remote control data is resolved, obtain ECU nodal information;
The control command of each ECU node in described ECU nodal information is searched according to ECU class chained list; Described ECU class chained list comprises the unique encodings of each ECU node;
The described control command of described ECU node is resolved, in the ECU nodal method chained list corresponding with described ECU node, searches the manner of execution of each bar control command of described ECU node;
Control command described in each bar performing described ECU node according to described manner of execution, controls vehicle.
Accordingly, the present invention also provides a kind of vehicle control system based on multiple ECU node, comprises the data reception module, protocol resolution module, ECU node manager, management by methods device and the execution module that connect successively;
Described data reception module is for receiving remote control data;
Described protocol resolution module is used for resolving described remote control data, obtains ECU nodal information, and described ECU nodal information is sent to described ECU node manager;
Described ECU node manager searches the control command of each ECU node in described ECU nodal information according to ECU class chained list, and the control command of ECU node described in each is sent to described management by methods device; Described ECU class chained list comprises the unique encodings of ECU node described in each;
The described control command of described management by methods device to described ECU node is resolved, and in the ECU nodal method chained list corresponding with described ECU node, the manner of execution of control command described in each bar searching described ECU node;
Described execution module performs control command described in each bar of described ECU node according to described manner of execution, controls vehicle.
The present invention can obtain the control command of each ECU node from remote control data according to ECU class chained list, and from ECU nodal method chained list, find the manner of execution of each bar control command, thus realize wagon control by the control command performing different ECU node, this mode also accurately can perform each bar control command of each ECU node when ECU node is more, effective reduction makes mistakes probability, improves stability and the safety of wagon control.In addition, based on control method for vehicle of the present invention and system, in the vehicle development stage, according to different vehicle development demands, as long as the manner of execution that developer correspondingly defines individual and each the ECU node individuality of ECU node just can adaptive different vehicle and development requirement easily, relative to the wagon control mode in conventional art, the present invention effectively reduces the work capacity in vehicle development process, improves vehicle development efficiency.
Accompanying drawing explanation
Fig. 1 is control method for vehicle of the present invention schematic flow sheet in one embodiment;
Fig. 2 is a kind of schematic flow sheet obtaining the method for ECU class chained list in the embodiment of the present invention;
Fig. 3 is vehicle control system of the present invention structural representation in one embodiment;
Fig. 4 is the structural representation of the core component of vehicle control system in the embodiment of the present invention;
Fig. 5 is the workflow schematic diagram of vehicle control system in the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with preferred embodiment and accompanying drawing, content of the present invention is described in further detail.Obviously, hereafter described embodiment is only for explaining the present invention, but not limitation of the invention.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.It should be noted that for convenience of description, illustrate only part related to the present invention in accompanying drawing but not full content.
Fig. 1 is control method for vehicle of the present invention schematic flow sheet in one embodiment, and the method for the present embodiment can be performed by vehicle control system.As shown in Figure 1, the control method for vehicle in the present embodiment comprises the following steps:
Step S110, receives remote control data;
In the present embodiment, the equipment that can send remote control data to vehicle control system is referred to as client, and in the present embodiment, vehicle control system receives the remote control data that client sends.
Step S120, resolves described remote control data, obtains ECU nodal information;
Client is when sending remote control data to vehicle control system, capital is encapsulated by corresponding communication protocol, vehicle control system is after the remote control data receiving client transmission, first to resolve this remote control data according to the communication protocol of correspondence, obtain ECU nodal information, to distinguish other non-ECU associated datas that client sends.
Step S130, searches the control command of each ECU node in ECU nodal information according to ECU class chained list; Described ECU class chained list comprises the ID (unique encodings) of each ECU node;
ECU class chained list is included in vehicle control system, and in ECU class chained list, comprise the ID of each ECU node, due in ECU nodal information, each ECU node has the control command Format Series Lines of its correspondence, therefore just can search the control command of each ECU node in ECU nodal information according to the ID of ECU node.。Such as, ECU nodal information comprises the quantity of control command, the identifier of control command and the controling parameters etc. that each ECU node will perform, and just directly can find the control command of each ECU node according to the ID of each ECU node in ECU nodal information.
Step S140, resolves the described control command of described ECU node, in the ECU nodal method chained list corresponding with described ECU node, searches the manner of execution of each bar control command of described ECU node;
As mentioned above, because each ECU node has unique ID of its correspondence, therefore ECU nodal method chained list corresponding to each ECU node can be found according to the ID of ECU node in vehicle control system.The manner of execution of all control commands of this ECU node is contained in ECU nodal method chained list.Therefore, after the control command of all ECU nodes is resolved, find the ECU nodal method chained list corresponding with some ECU nodes by the ID of ECU node, in this ECU nodal method chained list, just can search the manner of execution of each bar control command of this ECU node.In the optional embodiment of one, because control command is made up of unique identifier and controling parameters, therefore, can according to the identifier of each bar control command, in ECU nodal method chained list, index obtains the manner of execution of each bar control command of ECU node.
Step S150, control command described in each bar performing described ECU node according to described manner of execution, controls vehicle.
Obtain the manner of execution of each bar control command in ECU nodal method chained list after, just can perform the control command of ECU node according to the manner of execution of configuration, realize the control to vehicle.
For example, after acquisition ECU nodal information, first in ECU class chained list, find in ECU nodal information according to the ID of ECU node ECU node a, b, c of needing to control, obtain the control command of ECU node a, b, c respectively.Suppose that ECU node a has 3 control commands, be designated as control command a respectively 1, a 2, a 3; ECU node b has 2 control commands, is designated as control command b respectively 1, b 2; ECU node c only has 1 control command, is designated as control command c 1.Then resolve the control command of each ECU node, after resolving, hypothesis first processes the control command a of ECU node a 1, concrete, first find the ECU nodal method chained list corresponding with it by the ID of ECU node a, then in this ECU nodal method chained list, pass through control command a 1identifier index obtain control command a 1manner of execution, thus can according to this manner of execution perform control command a 1.
After executing a control command, also need to judge whether current ECU node a has more control command to need to perform, if had, then continue to search relevant control command, and call corresponding manner of execution and carry out executive command, so repeatedly until all control commands of current ECU node have all been performed.In this example, control command a is executed 1after, find control command a 2, then in the ECU nodal method chained list that ECU node a is corresponding, index obtains control command a 2manner of execution, then according to this manner of execution perform control command a 2.In like manner control command a can be completed 3execution, so far execute all control commands of ECU node a.
After completing all control commands of an ECU node, judge whether that more ECU node needs to control again, if had, then continue to search ECU node, and the manner of execution of searching each bar control command of ECU node is to perform corresponding control command, so repeatedly until all control commands of all ECU nodes are all complete.In the above-described example, after executing all control commands of ECU node a, then the control command b of ECU node b is performed 1, b 2, finally perform the control command c of ECU node c 1, so far all control commands of all ECU nodes are all performed, and complete the control process to vehicle.
In the optional embodiment of one, the ECU class chained list stored in vehicle control system can obtain in the following manner, as shown in Figure 2, comprising:
Step S201, derives ECU class corresponding to each ECU node according to base class; Described base class comprises the ID of each ECU node in vehicle;
Step S202, is linked to be chained list by ECU class corresponding for each ECU node, obtains described ECU class chained list.
In the present embodiment, the action performed required for each ECU node in vehicle is extracted according to the actual demand of wagon control, the action that ECU node will perform determines the type of ECU node, the quantity of control command, the manner of execution of control command, the Format Series Lines etc. of control command.Action definition performed by ECU node as a base class, comprises the ID of each ECU node for the structure of all ECU nodes in this base class.Then derive ECU class corresponding to each ECU node (comprising in construction, because structure also can be considered as class) according to this base class, then ECU class corresponding for each ECU node is linked to be chained list, ECU class chained list can be obtained.
In base class except comprising the ID of each ECU node, also can comprise the action performed by ECU node and the variable determined.In the optional embodiment of one, base class also can comprise ECU command pointer, ECU initial method, ECU command handling method and ECU order sweep-out method, such vehicle control system, just can according to the method provided in base class and attribute to perform the relevant action such as initialization, control command removing when performing the control command of each ECU node according to manner of execution.
The ECU class that ECU node is corresponding derives from from base class, comprise attribute and the method for base class, also can comprise self attribute and method in addition, such as in the optional embodiment of one, the ECU class that each ECU node is corresponding also comprises the processing method when state parameter of the equipment that ECU node will control self, equipment operation method and equipment run-time error.The action performed due to ECU node is different, thus attribute in ECU class and method also incomplete same, certainly all must comprise attribute and the method for base class.For example, the stopping of PEPS (Passiveentry & pushstart, intelligence enters and starts) node major control driving engine in vehicle control system and startup, vehicle power on and remove electricity.Therefore outside the attribute removing base class in the PEPS class that PEPS node is corresponding and method, also comprise and control the attribute of driving engine, the processing method the etc. when state parameter of such as present engine, vehicle body power supply status parameter, driving engine operating method and driving engine run-time error.And for BCM (BodyControlModule, Body control module) node, the action performed due to it is different from PEPS node, therefore outside the attribute removing base class and method, other method comprised in BCM class and attribute are also different from PEPS class, vehicle body status attribute is also comprised, the state parameter, skylight condition parameter, vehicle window state parameter etc. of such as vehicle four doors in BCM class.When performing the control command of different ECU node according to manner of execution, the method in the ECU class that ECU node is corresponding and attribute just can be utilized to perform corresponding actions.
Similar to ECU class chained list, above-mentioned ECU nodal method chained list decides according to the act of execution of each ECU node.Single ECU node has a lot of behavior needing to perform, and namely perform the manner of execution of control command, these manners of execution are linked to be a chained list, just can obtain ECU nodal method chained list, the manner of execution in ECU nodal method chained list can be obtained by control command index.
In sum, control method for vehicle of the present invention can obtain the control command of each ECU node from remote control data according to ECU class chained list, and from ECU nodal method chained list, find the manner of execution of each bar control command, thus realize wagon control by the control command performing different ECU node, this mode also accurately can perform each bar control command of each ECU node when ECU node is more, effective reduction makes mistakes probability, improves stability and the safety of wagon control.In addition, based on control method for vehicle of the present invention, in the vehicle development stage, according to different vehicle development demands, as long as the manner of execution that developer correspondingly defines individual and each the ECU node individuality of ECU node just can adaptive different vehicle and development requirement easily, relative to traditional control method for vehicle, the present invention effectively reduces the work capacity in vehicle development process, improves vehicle development efficiency.
According to the control method for vehicle of the invention described above, the present invention also provides a kind of vehicle control system, is described in detail to vehicle control system of the present invention below in conjunction with accompanying drawing and preferred embodiment.
Fig. 3 is vehicle control system of the present invention structural representation in one embodiment.As shown in Figure 3, the vehicle control system based on multiple ECU node in this embodiment comprises the data reception module 100, protocol resolution module 200, ECU node manager 300, management by methods device 400 and the execution module 500 that connect successively.Wherein, data reception module 100 is for receiving remote control data, and protocol resolution module 200, for resolving remote control data, obtains ECU nodal information, and ECU nodal information is sent to ECU node manager 300.
ECU node manager 300 searches the control command of each ECU node in ECU nodal information according to ECU class chained list, and the control command of each ECU node is sent to management by methods device 400, and wherein ECU class chained list comprises the ID of each ECU node.
Management by methods device 400, after the control command receiving ECU node, is resolved data, and in the ECU nodal method chained list corresponding with ECU node, is searched the manner of execution of each bar control command of ECU node.Then, the manner of execution that execution module 500 just can find according to management by methods device 400 performs control command, correspondingly controls vehicle.
Concrete, data reception module 100 in the present embodiment receives the remote control data that client sends, because client is when sending remote control data to data reception module 100, capital is encapsulated by corresponding communication protocol, therefore, after data reception module 100 receives the remote control data of client transmission, to be resolved this remote control data according to the communication protocol of correspondence by protocol resolution module 200, obtain ECU nodal information, to distinguish other data types that client sends.
ECU class chained list is included in ECU node manager 300, and in ECU class chained list, comprise the ID of each ECU node, because ECU node each in ECU nodal information has the control command Format Series Lines of its correspondence, therefore ECU node manager 300 just directly at ECU nodal information, can search the control command obtaining each ECU node according to the ID of ECU node.Afterwards, ECU node manager 300 sends the control command of each ECU node to management by methods device 400.The ECU nodal method chained list that each ECU node is corresponding is comprised in management by methods device 400, as mentioned above, because each ECU node has unique ID of its correspondence, therefore ECU nodal method chained list corresponding to each ECU node can be found according to the ID of ECU node in management by methods device 400, and in ECU nodal method chained list, contain the manner of execution of all control commands of ECU node.Therefore, management by methods device is after resolving the control command of ECU node, the ECU nodal method chained list corresponding with some ECU nodes is found by the ID of ECU node, the manner of execution of each bar control command of this ECU node just can be searched in this ECU nodal method chained list, the manner of execution that theres is provided according to management by methods device 400 of execution module 500 is to perform control command afterwards, realizes the control to vehicle.
In the optional embodiment of one, as shown in Figure 3, in the vehicle control system based on multiple ECU node of the present embodiment, ECU node manager 300 also comprises:
Derive from module 301, for deriving ECU class corresponding to each ECU node according to base class; Described base class comprises the ID of each ECU node in vehicle;
Link block 302, for ECU class corresponding for each ECU node is linked to be chained list, obtains described ECU class chained list.
In the present embodiment, the action performed required for each ECU node in vehicle is extracted according to the actual demand of wagon control, the action that ECU node will perform determines the type of ECU node, the quantity of control command, the manner of execution of control command, the Format Series Lines etc. of control command.Action definition performed by ECU node as a base class, comprises the ID of each ECU node for the structure of all ECU nodes in this base class.Then the ECU class that derivation module 301 derives each ECU node corresponding according to this base class (comprises in construction, because structure also can be considered as class), ECU class corresponding for each ECU node is linked to be chained list by link block 302, can obtain ECU class chained list.An ECU node pointer is defined in ECU node manager 300, point to ECU class chained list, such ECU node manager 300, when searching the ECU node that the needs in remote control data control, just can call corresponding ECU class chained list by ECU node pointer and process.
In addition, in base class except comprising the ID of each ECU node, also can comprise the action performed by ECU node and the variable determined.In the optional embodiment of one, base class also can comprise ECU command pointer, ECU initial method, ECU command handling method and ECU order sweep-out method, like this when execution module 500 performs the control command of each ECU node according to the manner of execution that management by methods device 400 provides, just can according to the method provided in base class and attribute to perform initialization, order to remove etc. relevant action.
The ECU class that ECU node is corresponding derives from from base class, comprises attribute and the method for base class, and in addition due to the action difference that each ECU node performs, therefore each ECU class also can comprise attribute and the method for self.Such as in the optional embodiment of one, in the ECU class that each ECU node that derivation module 301 obtains is corresponding, also comprise the processing method when state parameter of the equipment that ECU node will control self, equipment operation method and equipment run-time error.For example, the stopping of PEPS node major control driving engine in vehicle control system and startup, vehicle power on and remove electricity.Therefore module 301 is derived from when the PEPS class that acquisition PEPS node is corresponding, outside the removing attribute of base class and method, also comprise and control the attribute of driving engine, the processing method the etc. when state parameter of such as present engine, vehicle body power supply status parameter, driving engine operating method and transmitting set run-time error.And for BCM node, the action performed due to it is different from PEPS node, therefore, derive from module 301 when the BCM class that acquisition BCM node is corresponding, outside the removing attribute of base class and method, other method comprised in BCM class and attribute are also different from PEPS class, also comprise vehicle body status attribute in BCM class, the state parameter, skylight condition parameter, vehicle window state parameter etc. of such as vehicle four doors.Execution module 500, when performing the control command of ECU node, just can perform corresponding actions according to the method provided in ECU class, attribute.
ECU nodal method chained list in management by methods device 400 decides according to the act of execution of each ECU node.Single ECU node has a lot of behavior needing to perform, and namely perform the manner of execution of control command, these manners of execution are linked to be a chained list, just can obtain ECU nodal method chained list, the manner of execution in ECU nodal method chained list can be obtained by control command index.Define a pointed ECU nodal method chained list in management by methods device 400, like this when the manner of execution of control command searched by management by methods device 400, just can call corresponding ECU nodal method chained list according to pointer.
Vehicle control system in the present embodiment, its core component is ECU node manager 300 and management by methods device 400.As shown in Figure 4, receive and resolve client send remote control data after, ECU node manager 300 searches in ECU nodal information the ECU node needing to control according to ECU class chained list, if find the ECU node conformed to, then send the control command of this ECU node to management by methods device 400, the manner of execution for performing control command searched by management by methods device 400 from ECU nodal method chained list after control command being resolved, in the optional embodiment of one, management by methods device 400 is according to the identifier of each bar control command, in the ECU nodal method chained list corresponding with ECU node, index obtains the manner of execution of each bar control command of ECU node.Perform control command finally by execution module 500, complete wagon control.
With reference to shown in Fig. 5, and it is certain for Fig. 3, Fig. 4, execute a control command of some ECU nodes at execution module 500 after, management by methods device 400 judges whether this ECU node has more control command to need to perform, if had, then continue the manner of execution of other control commands of searching this ECU node, so repeatedly until all control commands of this ECU node to be performed module 500 complete.
And after all control commands completing some ECU nodes, ECU node administration 300 has judged whether that more ECU node needs to control, if had, then continue search relevant ECU node and send its control command to management by methods device 400, so repeatedly until all ECU nodes all complete control, namely all control commands of all ECU nodes are all performed.
In vehicle control system of the present invention, ECU nodes all in ECU node manager management vehicle, the manner of execution of each bar control command of management by methods management ECU node.Based on vehicle control system provided by the invention, when the ECU node of vehicle is more, also can be obtained the control command of each ECU node from remote control data by ECU node manager, and the manner of execution of each bar control command can be obtained by management by methods device, accurately can perform each bar control command of each ECU node like this, effectively reduce in wagon control process the probability of makeing mistakes when performing control command, ensure stability and the safety of wagon control.In addition, based on vehicle control system provided by the invention, in the vehicle development stage, according to different vehicle development demands, as long as the manner of execution that developer correspondingly defines individual and each the ECU node individuality of ECU node just can adaptive different vehicle and development requirement easily, relative to traditional vehicle control system, the present invention effectively can reduce the work capacity in vehicle development process, improves vehicle development efficiency.
Above-mentionedly can perform based on vehicle control system the control method for vehicle that the embodiment of the present invention provides, possess the corresponding functional module of manner of execution and beneficial effect.
Each technical characteristic of the above embodiment can combine arbitrarily, for making description succinct, the all possible combination of each technical characteristic in above-described embodiment is not all described, but, as long as the combination of these technical characteristics does not exist contradiction, be all considered to be the scope that this specification sheets is recorded.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be construed as limiting the scope of the patent.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.

Claims (10)

1. a control method for vehicle, is characterized in that, comprises the steps:
Receive remote control data, and parsing is carried out to described remote control data obtain ECU nodal information;
The control command of each ECU node in described ECU nodal information is searched according to ECU class chained list; Described ECU class chained list comprises the unique encodings of each ECU node;
The control command of described ECU node is resolved, in the ECU nodal method chained list corresponding with described ECU node, searches the manner of execution of each bar control command of described ECU node;
Control command described in each bar performing described ECU node according to described manner of execution, controls vehicle.
2. control method for vehicle according to claim 1, is characterized in that, obtains described ECU class chained list by the following method:
ECU class corresponding to ECU node described in each is derived according to base class; Described base class comprises the unique encodings of ECU node described in each in vehicle;
Described ECU class corresponding for ECU node described in each is linked to be chained list, obtains described ECU class chained list.
3. control method for vehicle according to claim 2, is characterized in that, described base class also comprises ECU command pointer, ECU initial method, ECU command handling method and ECU order sweep-out method.
4. control method for vehicle according to claim 2, it is characterized in that, the described ECU class that ECU node described in each is corresponding also comprises the processing method when state parameter of the equipment that described ECU node will control self, equipment operation method and equipment run-time error.
5. the control method for vehicle according to any one of Claims 1-4, is characterized in that, the process of searching the manner of execution of each bar control command of described ECU node comprises:
The identifier of control command according to each bar of described ECU node, in the ECU nodal method chained list corresponding with described ECU node, index obtains the manner of execution of control command described in each bar.
6. a vehicle control system, is characterized in that, comprises the data reception module, protocol resolution module, ECU node manager, management by methods device and the execution module that connect successively;
Described data reception module is for receiving remote control data;
Described protocol resolution module is used for resolving described remote control data, obtains ECU nodal information, and described ECU nodal information is sent to described ECU node manager;
Described ECU node manager searches the control command of each ECU node in described ECU nodal information according to ECU class chained list, and the control command of ECU node described in each is sent to described management by methods device; Described ECU class chained list comprises the unique encodings of ECU node described in each;
The described control command of described management by methods device to described ECU node is resolved, and in the ECU nodal method chained list corresponding with described ECU node, the manner of execution of control command described in each bar searching described ECU node;
Described execution module performs control command described in each bar of described ECU node according to described manner of execution, controls vehicle.
7. vehicle control system according to claim 6, is characterized in that, described ECU node manager comprises:
Derive from module, for deriving ECU class corresponding to ECU node described in each according to base class; Described base class comprises the unique encodings of ECU node described in each in vehicle;
Link block, for described ECU class corresponding for ECU node described in each is linked to be chained list, obtains described ECU class chained list.
8. vehicle control system according to claim 7, is characterized in that, described base class also comprises ECU command pointer, ECU initial method, ECU command handling method and ECU order sweep-out method.
9. vehicle control system according to claim 7, it is characterized in that, the described ECU class that ECU node described in each is corresponding also comprises the processing method when state parameter of the equipment that described ECU node will control self, equipment operation method and equipment run-time error.
10. the vehicle control system according to any one of claim 6 to 9, it is characterized in that, the identifier of described management by methods device control command according to each bar of described ECU node, the manner of execution of control command described in each bar that index obtains described ECU node in the ECU nodal method chained list corresponding with described ECU node.
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