CN108710506B - Vehicle instruction processing method - Google Patents
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- 238000003672 processing method Methods 0.000 title abstract description 13
- 238000000034 method Methods 0.000 claims description 37
- 238000012163 sequencing technique Methods 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 5
- 238000011022 operating instruction Methods 0.000 claims 2
- 238000004140 cleaning Methods 0.000 description 37
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/30—Arrangements for executing machine instructions, e.g. instruction decode
- G06F9/38—Concurrent instruction execution, e.g. pipeline, look ahead
- G06F9/3854—Instruction completion, e.g. retiring, committing or graduating
- G06F9/3856—Reordering of instructions, e.g. using queues or age tags
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Abstract
The invention relates to a command processing method of a vehicle, which comprises the following steps: the vehicle receives a first operation instruction input by a user, and the Micro Control Unit (MCU) analyzes the first operation instruction to obtain corresponding first class information and a first instruction file; acquiring second category information and a second instruction file corresponding to a currently executed second operation instruction; judging a current driving mode, wherein the driving mode comprises automatic driving and remote control driving; calling a category priority list corresponding to the driving mode; respectively inquiring category priority sequences corresponding to the first category information and the second category information in a category priority list; judging whether the priority order of the first category information and the second category information is the same; if yes, inquiring the instruction priority order corresponding to the same category; the BCM executes an instruction file corresponding to the operation instruction according to the instruction priority sequence; if not, the BCM executes the instruction file corresponding to the operation instruction according to the category priority order.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a vehicle instruction processing method.
Background
An automatic driving automobile is also called an unmanned automobile, a computer driving automobile or a wheeled mobile robot, and is an intelligent automobile which realizes unmanned driving through a computer system. The automatic driving automobile depends on the cooperation of artificial intelligence, visual calculation, radar, monitoring device and global positioning system, so that the computer can operate the motor vehicle automatically and safely without any active operation of human.
For an automatic driving vehicle, multiple control modes are generally provided, wherein multiple operation instructions are involved, the instruction processing process is complex, and instruction conflict is easy to occur, so that the automatic driving vehicle cannot normally run.
Disclosure of Invention
The invention aims to provide a vehicle instruction processing method aiming at the defects in the prior art.
To achieve the above object, in a first aspect, the present invention provides a command processing method for a vehicle, including:
the method comprises the steps that a vehicle receives a first operation instruction input by a user, and a Micro Control Unit (MCU) analyzes the first operation instruction to obtain corresponding first class information and a first instruction file;
acquiring second category information and a second instruction file corresponding to a currently executed second operation instruction;
judging a current driving mode, wherein the driving mode comprises automatic driving and remote control driving;
calling a category priority list corresponding to the driving mode;
respectively inquiring category priority orders corresponding to the first category information and the second category information in the category priority list;
judging whether the priority order of the first category information and the second category information is the same;
if yes, inquiring the instruction priority order corresponding to the same category;
the BCM executes an instruction file corresponding to the operation instruction according to the instruction priority sequence;
and if not, the BCM executes the instruction file corresponding to the operation instruction according to the category priority sequence.
Further, before invoking the category priority list corresponding to the driving mode, the method further includes:
setting priorities for triggering emergency stop, field remote control and remote control respectively;
and generating a category priority list corresponding to each driving mode.
Further, before querying the instruction priority order corresponding to the same category, the method further includes:
acquiring all operation instructions corresponding to each category of information;
and respectively setting priorities for all the operation instructions, and sequencing the operation instructions from high to low according to the priorities to generate an instruction priority list.
Further, the step of executing, by the BCM, the instruction file corresponding to the operation instruction according to the category priority order specifically includes:
and the BCM sequentially executes the instruction files corresponding to each operation instruction according to the sequence of the category priority from high to low.
In a second aspect, the present invention provides a command processing method for a vehicle, including:
the method comprises the steps that a vehicle receives a plurality of first operation instructions input by a user, and a Micro Control Unit (MCU) analyzes the first operation instructions respectively to obtain a plurality of corresponding first category information and a plurality of first instruction files;
acquiring second category information and a second instruction file corresponding to a currently executed second operation instruction;
judging a current driving mode, wherein the driving mode comprises automatic driving and remote control driving;
calling a category priority list corresponding to the driving mode;
respectively inquiring a plurality of mode priority orders corresponding to the first category information and the second category information in the category priority list;
judging whether the priority orders of all the first category information and the second category information are the same;
if yes, inquiring the instruction priority order corresponding to the same category;
the BCM executes an instruction file corresponding to the operation instruction according to the instruction priority sequence;
and if not, the BCM executes the instruction file corresponding to the operation instruction according to the category priority sequence.
Further, before invoking the category priority list corresponding to the driving mode, the method further includes:
setting priorities for triggering emergency stop, field remote control and remote control respectively;
and generating a category priority list corresponding to each driving mode.
Further, before querying the instruction priority order corresponding to the same category, the method further includes:
acquiring all operation instructions corresponding to each category of information;
and respectively setting priorities for all the operation instructions, and sequencing the operation instructions from high to low according to the priorities to generate an instruction priority list.
Further, the step of executing, by the BCM, the instruction file corresponding to the operation instruction according to the category priority order specifically includes:
and the BCM sequentially executes the instruction files corresponding to each operation instruction according to the sequence of the category priority from high to low.
Further, the receiving, by the vehicle, the plurality of first operation instructions input by the user specifically includes:
the vehicle receives a plurality of first operation instructions input by a user at the same time.
Further, the receiving, by the vehicle, the plurality of first operation instructions input by the user specifically includes:
the vehicle receives a plurality of first operation instructions input by a user at different times.
The invention provides a vehicle instruction processing method, which sets a corresponding category priority list and a corresponding instruction priority list for different driving modes of an automatic driving vehicle, and executes an operation instruction according to the category priority list if the operation instruction category is different when the operation instruction currently executed by the vehicle conflicts with the operation instruction subsequently received; otherwise, executing the operation instruction according to the instruction priority list corresponding to the category. The method provided by the invention can avoid the problem of command conflict of the automatic driving vehicle and improve the running efficiency of the vehicle.
Drawings
Fig. 1 is a flowchart of a method for processing a command of a vehicle according to an embodiment of the present invention;
fig. 2 is a flowchart of a vehicle instruction processing method according to a second embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The vehicle in the technical scheme of the invention is an automatic driving vehicle, and particularly comprises intelligent cleaning equipment, so that the surrounding environment can be sensed in a specific and closed environment, low-speed automatic driving is realized, and an automatic cleaning task for a specified area is realized in the automatic driving process.
Fig. 1 is a flowchart of a vehicle instruction processing method according to an embodiment of the present invention. As shown in fig. 1, the method specifically comprises the following steps:
the user can input a first operation instruction by directly triggering a button outside the vehicle; the first operation instruction can also be sent to the vehicle through a remote controller or an application program of the intelligent terminal; the first operation instruction can also be sent to the vehicle in a remote control mode through the terminal equipment.
The first operation command may be specifically an opening command, a closing command, a forward command, a backward command, a left turn command, a right turn command, a cleaning task execution command, a cleaning task ending command, a cleaning task changing command, a cleaning task execution according to different routes, and the like.
102, analyzing a first operation instruction by a Micro Control Unit (MCU) to obtain corresponding first class information and a first instruction file;
the first type information comprises the type of the first operation instruction, and the first type information comprises emergency stop triggering, site remote control and remote control. The first instruction file comprises a related file of specific execution contents of the first operation instruction, such as an instruction name, an instruction object and an instruction parameter of the first operation instruction.
the second operation instruction refers to an operation instruction currently executed by the vehicle, and the execution is not completed. The second type information comprises the type of the second operation instruction, and comprises the triggering of emergency stop, field remote control and remote control. The second instruction file comprises related files of specific execution contents of the second operation instruction, such as an instruction name, an instruction object and an instruction parameter of the second operation instruction.
the driving mode of the automatic driving vehicle in the technical scheme of the invention comprises automatic driving and remote control driving.
The automatic driving means that the vehicle executes a command sequence according to a preset program to carry out cleaning operation without human intervention in the middle.
The remote control driving comprises field remote control and remote control, wherein the field remote control means that a remote control signal is sent to a vehicle at the running field of the vehicle through a remote controller or an application program of an intelligent terminal to remotely control the vehicle to execute a cleaning task; the remote control means that the terminal device establishes an association relation with the automatic driving vehicle through a wireless network (for example, WIFI, 3G, 4G and the like), and remotely sends a control signal to the vehicle to control the vehicle to complete a cleaning task.
Different category priority lists can be pre-established according to different driving modes, and the corresponding category priority lists are called according to the driving modes. Or a uniform category priority list can be established without distinguishing the driving modes, and then the calling is directly carried out.
if different category priority lists are established in different driving modes, the corresponding category priority list is called according to the current driving mode.
And respectively setting the priorities of triggering emergency stop, field remote control and remote control before calling the category priority list corresponding to the driving mode, and generating the category priority list corresponding to each driving mode.
When an emergency situation occurs, for example, an obstacle exists in the front of the vehicle, the vehicle is not detected in the running process, a user can trigger the vehicle to suddenly stop by opening the sudden stop button, the priority level for triggering the sudden stop can be set to be one level, and then the vehicle preferentially executes a sudden stop instruction.
For example, in an automatic driving mode, setting the priority of triggering emergency stop as first level, the priority of field remote control as second level and the priority of remote control as third level; when the vehicle receives the command triggering the scram, the command is executed firstly, and the execution of the field remote control command is superior to that of the remote control command.
Setting the priority of triggering emergency stop as first level, the priority of remote control as second level and the priority of field remote control as third level in a remote control driving mode; when the vehicle receives the command triggering the scram, the command is executed firstly, and the execution of the remote control command is superior to the field remote control command.
the category priority list includes category information and corresponding priority order. And respectively inquiring the priority order of the first category information of the first operation instruction and the second category information of the second operation instruction in the category priority list so as to execute the corresponding instructions according to the category priority order.
For example, the category of the current execution instruction of the vehicle is a remote control category, and the execution instruction is a straight travel of 50 meters; in the current instruction execution process, receiving a field remote control instruction, wherein the content of the instruction is right turning; the category priority of the field remote control is inquired to be two levels in the category priority list, and the category priority of the remote control is three levels, so that the category priority sequence of the currently executed instruction and the newly received instruction is obtained.
inquiring whether the category information of the second operation instruction currently executed by the vehicle and the category information of the newly received first operation instruction belong to the same priority from the category priority list, and if so, executing step 108; otherwise, step 110 is performed.
if the category information of the second operation instruction currently executed by the vehicle and the category information of the newly received first operation instruction belong to the same priority, calling an instruction priority list corresponding to the category information, and inquiring instruction priorities corresponding to the first operation instruction and the second operation instruction.
Before the instruction priority order corresponding to the same category is inquired, all operation instructions corresponding to each category information are obtained; and respectively setting priorities for all the operation instructions, and sequencing the operation instructions from high to low according to the priorities to generate an instruction priority list.
For example, in the field remoting category, the priority of the instructions is in order: the priority of stop is first, the priority of turn is second, and the priority of straight line is third. And generating an instruction priority list by the operation instruction and the corresponding priority.
as in the example of step 108, if the first operation command and the second operation command both belong to the field remote control class, the first operation command is a stop command, the second operation command is a straight-going command, and since the priority of the stop command is one level and the priority of the straight-going command is three levels, the BCM executes the stop command to control the vehicle to stop.
For another example, the first operation instruction and the second operation instruction both belong to a remote control class, the first operation instruction is "perform the cleaning task according to the first route", the second operation instruction is "perform the cleaning task according to the second route", the priority of the operation instruction "perform the cleaning task according to the first route" is higher than that of the operation instruction "perform the cleaning task according to the second route", and the BCM performs the operation instruction "perform the cleaning task according to the second route" according to the priority order.
And step 110, the BCM executes the instruction file corresponding to the operation instruction according to the category priority order.
And if the category information of the second operation instruction currently executed by the vehicle and the category information of the newly received first operation instruction do not belong to the same priority, the BCM sequentially executes the instruction files corresponding to each operation instruction according to the order from high to low of the category priority.
For example, the category of the first operation instruction is triggering emergency stop, the category of the second operation instruction is field remote control, in the category priority list, the priority for triggering emergency stop is first level, the priority for field remote control is second level, and the vehicle executes the emergency stop instruction according to the category priority order.
For another example, the first operation instruction is "execute cleaning task one", and the instruction category is site remote control; the second operation instruction is 'execute cleaning task two', the instruction category is remote control, in the category priority list, the priority of the field remote control is two levels, the priority of the remote control is three levels, and the vehicle 'executes cleaning task one' according to the category priority sequence.
The invention provides a vehicle instruction processing method, which sets a corresponding category priority list and a corresponding instruction priority list for different driving modes of an automatic driving vehicle, and executes an operation instruction according to the category priority list if the operation instruction category is different when the operation instruction currently executed by the vehicle conflicts with the operation instruction subsequently received; otherwise, executing the operation instruction according to the instruction priority list corresponding to the category. The method provided by the invention can avoid the problem of command conflict of the automatic driving vehicle and improve the running efficiency of the vehicle.
Fig. 2 is a flowchart of a vehicle instruction processing method according to a second embodiment of the present invention. As shown in fig. 2, the method specifically includes the following steps:
the user can input a first operation instruction by directly triggering a button outside the vehicle; the first operation instruction can also be sent to the vehicle through a remote controller or an application program of the intelligent terminal; the first operation instruction can also be sent to the vehicle in a remote control mode through the terminal equipment.
The first operation command may be specifically an opening command, a closing command, a forward command, a backward command, a left turn command, a right turn command, a cleaning task execution command, a cleaning task ending command, a cleaning task changing command, a cleaning task execution according to different routes, and the like.
Specifically, the vehicle receives a plurality of first operation instructions input by the user, and the first operation instructions comprise two conditions:
the first is that the vehicle receives a plurality of first operation instructions input by a plurality of users at the same time.
For example, the vehicle simultaneously receives an operation instruction "stop" sent by the user a on-site remote control and an operation instruction "go straight" sent by the user B remote control.
The second type is that the vehicle receives a plurality of first operation instructions input by the same user at different times.
For example, the vehicle receiving user a remotely transmits the operation command "go straight 20 m" on site at time T1, and remotely transmits the operation command "turn right" on site at time T2 when the operation command has not been executed yet.
the first type information comprises the type of the first operation instruction, and the first type information comprises emergency stop triggering, site remote control and remote control. The first instruction file comprises a related file of specific execution contents of the first operation instruction, such as an instruction name, an instruction object and an instruction parameter of the first operation instruction.
the second operation instruction refers to an operation instruction currently executed by the vehicle, and the execution is not completed. The second type information comprises the type of the second operation instruction, and comprises the triggering of emergency stop, field remote control and remote control. The second instruction file comprises related files of specific execution contents of the second operation instruction, such as an instruction name, an instruction object and an instruction parameter of the second operation instruction.
the driving mode of the automatic driving vehicle in the technical scheme of the invention comprises automatic driving and remote control driving.
The automatic driving means that the vehicle executes a command sequence according to a preset program to carry out cleaning operation without human intervention in the middle.
The remote control driving comprises field remote control and remote control, wherein the field remote control means that a remote control signal is sent to a vehicle at the running field of the vehicle through a remote controller or an application program of an intelligent terminal to remotely control the vehicle to execute a cleaning task; the remote control means that the terminal device establishes an association relation with the automatic driving vehicle through a wireless network (for example, WIFI, 3G, 4G and the like), and remotely sends a control signal to the vehicle to control the vehicle to complete a cleaning task.
Different category priority lists can be pre-established according to different driving modes, and the corresponding category priority lists are called according to the driving modes. Or a uniform category priority list can be established without distinguishing the driving modes, and then the calling is directly carried out.
if different category priority lists are established in different driving modes, the corresponding category priority list is called according to the current driving mode.
And respectively setting the priorities of triggering emergency stop, field remote control and remote control before calling the category priority list corresponding to the driving mode, and generating the category priority list corresponding to each driving mode.
When an emergency situation occurs, for example, an obstacle exists in the front of the vehicle, the vehicle is not detected in the running process, a user can trigger the vehicle to suddenly stop by opening the sudden stop button, the priority level for triggering the sudden stop can be set to be one level, and then the vehicle preferentially executes a sudden stop instruction.
For example, in an automatic driving mode, setting the priority of triggering emergency stop as first level, the priority of field remote control as second level and the priority of remote control as third level; when the vehicle receives the command triggering the scram, the command is executed firstly, and the execution of the field remote control command is superior to that of the remote control command.
Setting the priority of triggering emergency stop as first level, the priority of remote control as second level and the priority of field remote control as third level in a remote control driving mode; when the vehicle receives the command triggering the scram, the command is executed firstly, and the execution of the remote control command is superior to the field remote control command.
the category priority list includes category information and corresponding priority order. And respectively inquiring the priority order of the first category information of the first operation instructions and the second category information of the second operation instructions in the category priority list so as to execute the corresponding instructions according to the category priority order.
For example, the category of the current execution instruction of the vehicle is a remote control category, and the execution instruction is a straight travel of 50 meters; in the current instruction execution process, firstly, a field remote control instruction is received, and the content of the instruction is right turning; and secondly, receiving a command for triggering the emergency stop, inquiring that the category priority for triggering the emergency stop is first grade, the category priority for field remote control is second grade, and the category priority for remote control is third grade in a category priority list, so as to obtain the category priority sequence of the currently executed command and the newly received command.
inquiring whether the category information of the second operation instruction currently executed by the vehicle and the category information of all the newly received first operation instructions belong to the same priority from the category priority list, and if so, executing step 208; otherwise, step 210 is performed.
if the category information of the second operation instruction currently executed by the vehicle and the category information of all the newly received first operation instructions belong to the same priority, calling an instruction priority list corresponding to the category information, and inquiring instruction priorities corresponding to the first operation instruction and the second operation instruction.
Before the instruction priority order corresponding to the same category is inquired, all operation instructions corresponding to each category information are obtained; and respectively setting priorities for all the operation instructions, and sequencing the operation instructions from high to low according to the priorities to generate an instruction priority list.
For example, in the field remoting category, the priority of the instructions is in order: the priority of stop is first, the priority of turn is second, and the priority of straight line is third. And generating an instruction priority list by the operation instruction and the corresponding priority.
as an example in step 208, if the plurality of first operation instructions and the plurality of second operation instructions belong to the field remote control class, the plurality of first operation instructions are respectively a stop instruction and a turn instruction, the plurality of second operation instructions are respectively a straight-going instruction, and since the priority of the stop instruction is one level, the priority of the turn instruction is two levels, and the priority of the straight-going instruction is three levels, the BCM executes the stop instruction to control the vehicle to stop.
For another example, the first operation instruction and the second operation instruction both belong to a remote control class, the plurality of first operation instructions are respectively "perform cleaning task according to route one", "perform cleaning task according to route two", the second operation instruction is "perform cleaning task according to route three", the priority of the operation instruction "perform cleaning task according to route one" is first level, the priority of "perform cleaning task according to route two" is second level, and the priority of "perform cleaning task according to route three" is third level, and then the BCM performs the operation instruction "perform cleaning task according to route one" according to the priority order.
And step 210, executing the instruction file corresponding to the operation instruction by the BCM according to the category priority order.
If the category information of the first operation instruction currently executed by the vehicle and the received category information of the second operation instruction do not belong to the same priority, the BCM executes the instruction files corresponding to each operation instruction in sequence from high to low according to the category priority.
For example, the types of the first operation instructions are emergency stop triggering and remote control triggering, the type of the second operation instruction is field remote control, the priority of emergency stop triggering is first level, the priority of field remote control is second level, and the priority of remote control is third level in the category priority list, and then the vehicle executes the emergency stop instructions according to the category priority sequence.
It should be noted that, if the categories of the plurality of first operation instructions and the plurality of second operation instructions are partially the same and partially different, the operation instructions are executed according to the category priority first and then according to the instruction priority.
For example, the vehicle simultaneously receives a plurality of first operation instructions, namely 'cleaning task execution first' and 'cleaning task execution second', wherein the instruction types are field remote control; the second operation command is 'execute cleaning task three', the command category is remote control, the priority of the field remote control is two levels and the priority of the remote control is three levels in the category priority list, therefore, the field remote control type operation command is executed firstly, the priority of the operation command 'execute cleaning task one' is one level and the priority of the operation command 'execute cleaning task two' is two levels in the operation command of the field remote control, and the vehicle 'execute cleaning task one' according to the command priority sequence.
The invention provides a vehicle instruction processing method, which sets a corresponding category priority list and a corresponding instruction priority list for different driving modes of an automatic driving vehicle, and executes an operation instruction according to the category priority list if the operation instruction category is different when the operation instruction currently executed by the vehicle conflicts with the operation instruction subsequently received; otherwise, executing the operation instruction according to the instruction priority list corresponding to the category. The method provided by the invention can avoid the problem of command conflict of the automatic driving vehicle and improve the running efficiency of the vehicle.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, a software module executed by a processor, or a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A method of processing an instruction of a vehicle, the method comprising:
the method comprises the steps that a vehicle receives a first operation instruction input by a user, and a Micro Control Unit (MCU) analyzes the first operation instruction to obtain corresponding first class information and a first instruction file;
acquiring second category information and a second instruction file corresponding to a currently executed second operation instruction;
judging a current driving mode, wherein the driving mode comprises automatic driving and remote control driving;
calling a category priority list corresponding to the driving mode;
respectively inquiring category priority orders corresponding to the first category information and the second category information in the category priority list;
judging whether the priority order of the first category information and the second category information is the same;
if so, calling an instruction priority list corresponding to the category information, and inquiring an instruction priority sequence corresponding to the same category;
the BCM executes an instruction file corresponding to the operation instruction according to the instruction priority sequence;
and if not, the BCM executes the instruction file corresponding to the operation instruction according to the category priority sequence.
2. The method of claim 1, wherein prior to invoking the category priority list for the driving mode, the method further comprises:
setting priorities for triggering emergency stop, field remote control and remote control respectively;
and generating a category priority list corresponding to each driving mode.
3. The method of claim 1, wherein prior to querying the instruction priority order corresponding to the same category, the method further comprises:
acquiring all operation instructions corresponding to each category of information;
and respectively setting priorities for all the operation instructions, and sequencing the operation instructions from high to low according to the priorities to generate an instruction priority list.
4. The method according to claim 1, wherein the step of executing, by the BCM, the instruction file corresponding to the operation instruction according to the category priority order specifically includes:
and the BCM sequentially executes the instruction files corresponding to each operation instruction according to the sequence of the category priority from high to low.
5. A method of processing an instruction of a vehicle, the method comprising:
the method comprises the steps that a vehicle receives a plurality of first operation instructions input by a user, and a Micro Control Unit (MCU) analyzes the first operation instructions respectively to obtain a plurality of corresponding first category information and a plurality of first instruction files;
acquiring second category information and a second instruction file corresponding to a currently executed second operation instruction;
judging a current driving mode, wherein the driving mode comprises automatic driving and remote control driving;
calling a category priority list corresponding to the driving mode;
respectively inquiring a plurality of mode priority orders corresponding to the first category information and the second category information in the category priority list;
judging whether the priority orders of all the first category information and the second category information are the same;
if so, calling an instruction priority list corresponding to the category information, and inquiring an instruction priority sequence corresponding to the same category;
the BCM executes an instruction file corresponding to the operation instruction according to the instruction priority sequence;
and if not, the BCM executes the instruction file corresponding to the operation instruction according to the category priority sequence.
6. The method of claim 5, wherein prior to invoking the category priority list for the driving mode, the method further comprises:
setting priorities for triggering emergency stop, field remote control and remote control respectively;
and generating a category priority list corresponding to each driving mode.
7. The method of claim 5, wherein prior to querying the instruction priority order corresponding to the same category, the method further comprises:
acquiring all operation instructions corresponding to each category of information;
and respectively setting priorities for all the operation instructions, and sequencing the operation instructions from high to low according to the priorities to generate an instruction priority list.
8. The method according to claim 5, wherein the step of executing, by the BCM, the instruction file corresponding to the operation instruction according to the category priority order specifically includes:
and the BCM sequentially executes the instruction files corresponding to each operation instruction according to the sequence of the category priority from high to low.
9. The method of claim 5, wherein the vehicle receiving the plurality of first operating instructions input by the user comprises:
the vehicle receives a plurality of first operation instructions input by a user at the same time.
10. The method of claim 5, wherein the vehicle receiving the plurality of first operating instructions input by the user comprises:
the vehicle receives a plurality of first operation instructions input by a user at different times.
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|---|---|---|---|---|
| CN109656212B (en) * | 2018-12-20 | 2020-12-01 | 北京长城华冠汽车科技股份有限公司 | Signal conditioning control method and device for BCM controller |
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