CN109885033B - Safety processing method and device for vehicle control command - Google Patents
Safety processing method and device for vehicle control command Download PDFInfo
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Abstract
The invention provides a safe processing method and a safe processing device for vehicle control commands, wherein the method comprises the following steps: acquiring the instruction type and preset risk evaluation parameters of the current vehicle control instruction; acquiring running state information of a current vehicle; calculating the command type, the preset risk assessment parameter and the running state information according to a preset algorithm to obtain the safety level of the current vehicle control command; and determining a risk evaluation result of the current vehicle control command according to the safety level, and performing safety processing on the vehicle control command according to the risk evaluation result. Therefore, risk judgment is carried out on the vehicle control command based on the vehicle running state information, the risky vehicle control command is subjected to safety processing in time, and driving safety is guaranteed.
Description
Technical Field
The invention relates to the technical field of traffic safety, in particular to a method and a device for safely processing vehicle control instructions.
Background
With the popularization of vehicles, driving modes such as automatic driving vehicles and remote driving vehicles appear in succession, and the following problem is that the safety problem of a novel driving mode is difficult to ensure.
In the related art, once a user starts an automatic driving mode or a remote driving mode, the user can directly respond to a vehicle control command in the mode, however, the command is sent out in a way of being separated from the actual running environment of the vehicle, and great driving safety hazards are caused.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first objective of the present invention is to provide a method for safely processing a vehicle control command, so as to perform risk judgment on the vehicle control command based on vehicle operating state information, perform safety processing on the risky vehicle control command in time, and ensure driving safety.
A second object of the present invention is to provide a safety processing device for vehicle control commands.
A third object of the invention is to propose a computer device.
A fourth object of the invention is to propose a non-transitory computer-readable storage medium.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a method for safely processing a vehicle control command, where the method includes: acquiring the instruction type and preset risk evaluation parameters of the current vehicle control instruction; acquiring running state information of a current vehicle; calculating the command type, the preset risk assessment parameter and the running state information according to a preset algorithm to obtain the safety level of the current vehicle control command; and determining a risk evaluation result of the current vehicle control command according to the safety level, and performing safety processing on the vehicle control command according to the risk evaluation result.
In addition, the method for inserting information into a video stream according to the embodiment of the present invention further has the following additional technical features:
optionally, before the calculating the command type, the preset risk assessment parameter, and the operating state information according to a preset algorithm to obtain the safety level of the current vehicle control command, the method further includes: and matching the instruction type with a risk instruction type in a preset heuristic library, and determining that the instruction type has a matched risk instruction type in the preset heuristic library.
Optionally, when the preset algorithm includes a safety level quantification algorithm, the calculating the instruction type, the preset risk assessment parameter, and the operating state information according to the preset algorithm to obtain the safety level of the current vehicle control instruction includes: quantizing the instruction type, the preset risk assessment parameter and the running state information into a type variable value, a risk parameter variable value and a state variable value respectively; and calculating the type variable value, the risk parameter variable value and the state variable value according to a safety level quantization algorithm to obtain the safety level of the vehicle control instruction.
Optionally, the operation state information includes: the vehicle networking state information, the vehicle system running state information, the vehicle hardware running state information and the vehicle running environment state information are one or more.
Optionally, the performing safety processing on the vehicle control command according to the risk assessment result further includes: and sending the vehicle control command and the risk assessment result to the gateway so that the gateway can give an alarm, block or distribute the vehicle control command according to the risk assessment result.
An embodiment of a second aspect of the present invention provides a safety processing device for vehicle control commands, including: the first acquisition module is used for acquiring the instruction type of the current vehicle control instruction and the preset risk assessment parameter; the second acquisition module is used for acquiring the running state information of the current vehicle; the calculation module is used for calculating the instruction type, the preset risk assessment parameter and the running state information according to a preset algorithm to obtain the safety level of the current vehicle control instruction; and the safety processing module is used for determining a risk evaluation result of the current vehicle control command according to the safety grade and carrying out safety processing on the vehicle control command according to the risk evaluation result.
In addition, the safety processing device for vehicle control commands according to the embodiment of the present invention has the following additional technical features:
optionally, the method further comprises: and the determining module is used for matching the instruction type with the risk instruction type in a preset heuristic library and determining that the instruction type has a matched risk instruction type in the preset heuristic library.
Optionally, the secure processing module is specifically configured to: and sending the vehicle control command and the risk assessment result to the gateway so that the gateway can give an alarm, block or distribute the vehicle control command according to the risk assessment result.
An embodiment of a third aspect of the present invention provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the processor implements the method for safely processing the vehicle control instruction according to the embodiment of the first aspect.
A fourth aspect of the present invention provides a non-transitory computer-readable storage medium having stored thereon a computer program that, when executed by a processor, implements a method for safely processing vehicle control instructions as described in the first aspect of the present invention.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
the method comprises the steps of obtaining an instruction type and preset risk assessment parameters of a current vehicle control instruction, obtaining running state information of the current vehicle, calculating the instruction type, the preset risk assessment parameters and the running state information according to a preset algorithm to obtain a safety level of the current vehicle control instruction, further determining a risk assessment result of the current vehicle control instruction according to the safety level, and carrying out safety processing on the vehicle control instruction according to the risk assessment result. Therefore, risk judgment is carried out on the vehicle control command based on the vehicle running state information, the risky vehicle control command is subjected to safety processing in time, and driving safety is guaranteed.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flowchart of a method for safely processing a vehicle control command according to an embodiment of the present invention;
fig. 2 is a schematic view of an application scenario of a method for safely processing a vehicle control command according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a safety processing device for vehicle control commands according to one embodiment of the present invention; and
fig. 4 is a schematic configuration diagram of a safety processing device of a vehicle control command according to another embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A method and apparatus for safely processing a vehicle control command according to an embodiment of the present invention will be described below with reference to the drawings.
In order to solve the technical problem that vehicle control commands lack safety processing in the prior art, the invention provides a vehicle control command safety processing method based on a vehicle operation environment.
Fig. 1 is a schematic flowchart of a method for safely processing a vehicle control command according to an embodiment of the present invention. As shown in fig. 1, the method includes:
The command type is mainly distinguished by the object of the vehicle control command, and may include a bus attack signal (a vehicle control command for a bus), an ECU attack signal (a control command for an internet of vehicles, etc.), a scene attack signal (a control command for opening a door of a vehicle, etc.), and the like.
In addition, the preset risk assessment parameters may include parameters related to risk comparison that the control duration of the vehicle control command (for example, the control duration is "3 seconds" in the vehicle control command of "stepping on the accelerator for 3 seconds"), the transmission type (for example, whether the transmission is from long-distance transmission such as long-distance communication, short-distance transmission such as approach communication transmission, local transmission, or physical contact (for example, a user operates a corresponding control device, etc.)) is equal to the command.
As a possible implementation manner, the obtained front vehicle control instruction is converted into a text type, and the instruction type is determined based on semantic recognition of the text.
The running state of the vehicle can comprise one or more of vehicle networking state information, vehicle system running state information, vehicle hardware running state information and vehicle running environment state information, and the vehicle running environment state comprises a distance between the vehicle and the surrounding vehicle, a distance between the vehicle and the surrounding obstacle, a running road section and the like.
As a possible implementation manner, the vehicle operation state information may be obtained based on communication with a vehicle network, where vehicle driving environment information, vehicle network state information, and the like collected by a camera and the like on the vehicle are stored in the vehicle network.
And 103, calculating the command type, the preset risk assessment parameters and the running state information according to a preset algorithm to obtain the safety level of the current vehicle control command.
The security level can be pre-marked identification information such as numbers, characters, letters and the like, which can represent the security height.
Specifically, in the embodiment of the present invention, the safety level of the vehicle control command is calculated by performing quantization processing on the command type, the preset risk assessment parameter and the operating state information based on a preset algorithm, wherein in the preset algorithm, the influence of the command type, the preset risk assessment parameter and the operating state information on the safety of users in the vehicle and the safety of the vehicle is considered to be calculated after quantization, for example, the remotely sent vehicle control command obviously has a greater influence on the safety than the control command sent by physical contact, and therefore, the preset risk assessment parameter of the remotely sent category is quantized into a quantized value representing a higher influence compared with the preset risk assessment parameter of the physically contact sent category.
As a possible implementation manner, the preset algorithm includes a security level quantization algorithm, and the variables included in the security level quantization algorithm are respectively a type variable, a risk parameter variable and a state variable, so that the instruction type, the preset risk assessment parameter and the operation state information can be quantized respectively into a type variable value, a risk parameter variable value and a state variable value, and the security level of the vehicle control instruction is obtained by calculating the type variable value, the risk parameter variable value and the state variable value according to the security level quantization algorithm.
As another possible implementation manner, the preset algorithm is a pre-trained neural network model, the input of the neural network model is the instruction type, the preset risk assessment parameter and the operation state information, and the output is the safety level of the vehicle control instruction, so that the instruction type, the preset risk assessment parameter and the operation state information can be input into the preset neural network model to obtain the safety level output by the neural network model.
In this embodiment, in some application scenarios, some vehicle control instructions may not be recognized by the neural network model due to insufficient training, in this case, as shown in fig. 2, the vehicle control instructions that cannot be recognized may be sent to the cloud platform, so that the cloud platform may analyze and process the vehicle control instructions based on huge data analysis capability or in a manual manner, and the neural network model may be trained and optimized according to a risk evaluation result of the vehicle control instructions that cannot be recognized on the cloud platform.
It should be noted that, in different application scenarios, the instruction types, the preset risk assessment parameters, and the operation state information are quantized in different manners, and as a possible implementation manner, a data preprocessing library may be established in advance, and based on the correspondence between the characteristics of the instruction types, the preset risk assessment parameters, and the operation state information, which are included in the data preprocessing library, and the quantized values, the corresponding instruction types, the preset risk assessment parameters, and the operation state information may be processed into uniform quantized values.
Of course, considering that, in some scenarios, some vehicle control commands have less influence on the driving safety of the vehicle and the safety of the user, then, in order to improve the efficiency of safe processing of the vehicle control command, the vehicle control command can be directly released, and in one embodiment of the invention, a heuristic library is preset, the vehicle control command having a small influence on the traveling safety of the vehicle and the safety of the user as described above is stored in the heuristic library, and therefore, before calculating the command type, the preset risk assessment parameter and the running state information according to a preset algorithm to obtain the safety level of the current vehicle control command, matching the command type with the risk command type in a preset heuristic library, determining that the command type has the matched risk command type in the preset heuristic library, and performing subsequent safety processing, otherwise, controlling the vehicle to directly correspond to the vehicle control instruction.
And 104, determining a risk evaluation result of the current vehicle control command according to the safety level, and performing safety processing on the vehicle control command according to the risk evaluation result.
Specifically, the risk assessment result of the current vehicle control command is determined according to the security level, for example, the current security level is higher, the risk assessment result of the current vehicle control command is determined to be an executable command, for example, when the current security level is lower, the risk assessment result of the current vehicle control command is determined to be an executable command but early warning is required, for example, when the current security level is very low, the risk assessment result of the current vehicle control command is determined to be an unexecutable command, after the risk assessment result is determined, the vehicle control command can be safely processed according to the risk assessment result, of course, a main body executing the safety processing may be a processing model which is specially set and associated with a preset algorithm, and the current vehicle control command and the corresponding risk assessment result may also be sent to the gateway, so that the gateway can give an alarm to the vehicle control command according to the risk assessment result, or, blocking, or, distributing the processing.
In order to describe the safety processing method of the vehicle control instruction in more systematic manner according to the embodiment of the present invention, the following description is made in combination with a specific application scenario, as shown in fig. 2, in this embodiment, when the vehicle control instruction is a CAN instruction in an automobile, before the CAN instruction to be forwarded is forwarded to a gateway, the vehicle operating state information and the CAN instruction are first sent to a data preprocessing module, the vehicle operating state information and the CAN instruction are converted into a processable format by performing data format conversion and the like, further, the vehicle state information and the preset risk assessment parameter are processed into standardized context data, further, a CAN signal obtained by converting the context data and the data format is sent to a module where a preset algorithm is located, the module where the preset algorithm is located first determines whether the CAN instruction type is an instruction with risk based on a preset elicitation library, if the CAN command is judged to be safe, quantifying the safety level of the CAN command according to a preset algorithm by using the command type and the context data, determining a risk evaluation result according to the safety level of the CAN command, further, carrying out inversion transformation on a data format of the CAN signal and the risk evaluation result through a mapping module, and then sending the data format to a gateway module capable of identifying the processed format, wherein the gateway module carries out corresponding safety processing on the CAN command based on the risk evaluation result, when the risk evaluation result contains an alarm, the gateway module sends a threat alarm command to a preset alarm module so as to carry out early warning operation on the command, for example, the gateway module reminds a user to stop at the side through the alarm, and the like, so that the user CAN conveniently and timely whistle the like.
Based on the above description, it is understood that some blocked vehicle control commands are actually dangerous with respect to the current vehicle operating state information, but may be executed when the vehicle state information changes to be dangerous, that is, the vehicle control commands dangerous with respect to the current vehicle operating state information are delayed, for example, when the current vehicle control command is a parking command, the current vehicle operating state information is that there is another vehicle in the rear of the vehicle in a short distance, and thus the vehicle control commands are actually dangerous with respect to the current vehicle operating state information, the vehicle control commands are delayed to be executed, and once it is detected that there is no another vehicle around the vehicle and the environment is safe, the parking command sent before may be executed.
To sum up, the method for safely processing the vehicle control instruction according to the embodiment of the present invention obtains the instruction type and the preset risk assessment parameter of the current vehicle control instruction, obtains the running state information of the current vehicle, calculates the instruction type, the preset risk assessment parameter and the running state information according to the preset algorithm to obtain the safety level of the current vehicle control instruction, further determines the risk assessment result of the current vehicle control instruction according to the safety level, and safely processes the vehicle control instruction according to the risk assessment result. Therefore, risk judgment is carried out on the vehicle control command based on the vehicle running state information, the risky vehicle control command is subjected to safety processing in time, and driving safety is guaranteed.
In order to realize the embodiment, the invention further provides a safety processing device for the vehicle control command.
Fig. 3 is a schematic structural diagram of a safety processing device for vehicle control commands according to an embodiment of the present invention, and as shown in fig. 3, the safety processing device for vehicle control commands includes: the system comprises a first obtaining module 10, a second obtaining module 20, a calculating module 30 and a safety processing module 40, wherein the first obtaining module 10 is used for obtaining the instruction type of the current vehicle control instruction and the preset risk assessment parameter.
And the second obtaining module 20 is used for obtaining the running state information of the current vehicle.
And the calculating module 30 is used for calculating the command type, the preset risk assessment parameter and the running state information according to a preset algorithm to obtain the safety level of the current vehicle control command.
And the safety processing module 40 is used for determining a risk evaluation result of the current vehicle control command according to the safety grade and performing safety processing on the vehicle control command according to the risk evaluation result.
In an embodiment of the present invention, the security processing module 40 is specifically configured to:
and sending the vehicle control command and the risk assessment result to the gateway so that the gateway can give an alarm, block or distribute the vehicle control command according to the risk assessment result.
In an embodiment of the present invention, as shown in fig. 4, on the basis of fig. 3, the apparatus further includes a determining module 50, where the determining module 50 is configured to match the instruction type with a risk instruction type in a preset heuristic, and determine that the instruction type has a matched risk instruction type in the preset heuristic.
It should be noted that the foregoing explanation of the embodiment of the method for processing the vehicle control command safely also applies to the safety processing device of the vehicle control command of this embodiment, and is not repeated here.
To sum up, the safety processing device for vehicle control instructions according to the embodiments of the present invention obtains the instruction type and the preset risk assessment parameter of the current vehicle control instruction, obtains the operating state information of the current vehicle, calculates the instruction type, the preset risk assessment parameter and the operating state information according to the preset algorithm to obtain the safety level of the current vehicle control instruction, further determines the risk assessment result of the current vehicle control instruction according to the safety level, and performs safety processing on the vehicle control instruction according to the risk assessment result. Therefore, risk judgment is carried out on the vehicle control command based on the vehicle running state information, the risky vehicle control command is subjected to safety processing in time, and driving safety is guaranteed.
In order to implement the foregoing embodiments, the present invention further provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the processor implements the safety processing method of the vehicle control instruction as described in the foregoing embodiments.
In order to implement the above-described embodiments, the present invention also proposes a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of safety processing of vehicle control instructions as described in the aforementioned method embodiments.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, 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 the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A method for safely processing a vehicle control command, the method comprising the steps of:
acquiring the instruction type and preset risk evaluation parameters of the current vehicle control instruction;
acquiring running state information of a current vehicle;
matching the instruction type with a risk instruction type in a preset heuristic library;
if the instruction type belongs to the preset heuristic library, calculating the instruction type, the preset risk assessment parameter and the running state information according to a preset algorithm to obtain the safety level of the current vehicle control instruction;
and determining a risk evaluation result of the current vehicle control command according to the safety level, and performing safety processing on the vehicle control command according to the risk evaluation result.
2. The method of claim 1, further comprising, prior to said calculating said command type, said preset risk assessment parameter, and said operating state information according to a preset algorithm to obtain a safety level for said current vehicle control command:
and matching the instruction type with a risk instruction type in a preset heuristic library, and determining that the instruction type has a matched risk instruction type in the preset heuristic library.
3. The method of claim 1, wherein when the predetermined algorithm comprises a safety level quantification algorithm, the calculating the safety level of the current vehicle control command from the command type, the predetermined risk assessment parameter, and the operating state information according to the predetermined algorithm comprises:
quantizing the instruction type, the preset risk assessment parameter and the running state information into a type variable value, a risk parameter variable value and a state variable value respectively;
and calculating the type variable value, the risk parameter variable value and the state variable value according to a safety level quantization algorithm to obtain the safety level of the vehicle control instruction.
4. The method of claim 1, wherein the operational state information comprises:
the vehicle networking state information, the vehicle system running state information, the vehicle hardware running state information and the vehicle running environment state information are one or more.
5. The method of claim 1, wherein said safety processing of said vehicle control commands based on said risk assessment results further comprises:
and sending the vehicle control command and the risk assessment result to a gateway so that the gateway can give an alarm, block or distribute the vehicle control command according to the risk assessment result.
6. A safety processing device for a vehicle control command, comprising:
the first acquisition module is used for acquiring the instruction type of the current vehicle control instruction and the preset risk assessment parameter;
the second acquisition module is used for acquiring the running state information of the current vehicle;
the matching module is used for matching the instruction type with a risk instruction type in a preset heuristic library;
the calculation module is used for calculating the instruction type, the preset risk assessment parameter and the running state information according to a preset algorithm to obtain the safety level of the current vehicle control instruction when the instruction type belongs to the preset heuristic library;
and the safety processing module is used for determining a risk evaluation result of the current vehicle control command according to the safety grade and carrying out safety processing on the vehicle control command according to the risk evaluation result.
7. The apparatus of claim 6, further comprising:
and the determining module is used for matching the instruction type with the risk instruction type in a preset heuristic library and determining that the instruction type has a matched risk instruction type in the preset heuristic library.
8. The apparatus of claim 6, wherein the secure processing module is specifically configured to:
and sending the vehicle control command and the risk assessment result to a gateway so that the gateway can give an alarm, block or distribute the vehicle control command according to the risk assessment result.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method for safely processing vehicle control instructions according to any one of claims 1 to 5 when executing the computer program.
10. A non-transitory computer-readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements a method for safety processing of vehicle control instructions according to any one of claims 1 to 5.
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| CN110443023B (en) * | 2019-08-05 | 2022-08-09 | 上海哲奥实业有限公司 | Safety management method and device for vehicle operating system |
| CN110557312A (en) * | 2019-08-23 | 2019-12-10 | 浙江吉利汽车研究院有限公司 | communication method, device, storage medium and equipment for vehicle control |
| CN113127287B (en) * | 2019-12-31 | 2024-05-10 | 北京车和家信息技术有限公司 | Control method and device of processor and electronic equipment |
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| CN111553812B (en) * | 2020-04-22 | 2022-09-02 | 国电南瑞科技股份有限公司 | Automatic early warning control method and system based on electric energy substitution terminal |
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