CN110727264A

CN110727264A - Automobile control system

Info

Publication number: CN110727264A
Application number: CN201911184381.2A
Authority: CN
Inventors: 翟棒棒; 孙全超; 周洪波; 张俊哲; 于德池; 赵亚楠
Original assignee: China Express Jiangsu Technology Co Ltd
Current assignee: China Express Jiangsu Technology Co Ltd
Priority date: 2019-11-27
Filing date: 2019-11-27
Publication date: 2020-01-24

Abstract

The application provides an automobile control system, which comprises a domain controller and an electronic control unit ECU; the domain controller is connected with one or more ECUs (electronic control units), and the ECUs are connected with the acquisition signal output end of an electronic device of the automobile; the ECU is used for acquiring acquisition signals on an acquisition signal output end of the electronic device and sending the acquisition signals to the domain controller; the domain controller is used for receiving the acquisition signal sent by the ECU and analyzing the acquisition signal to obtain the working state information of the electronic device. The technical scheme of the application can reduce the overall development amount of the automobile control system.

Description

Automobile control system

Technical Field

The application relates to the technical field of automobiles, in particular to an automobile control system.

Background

As the development of automobiles gradually shifts to automation and intelligence, the number of electronic devices on automobiles is increasing. Automobile Control systems may Control Electronic devices using Electronic Control Units (ECUs), and automobile Control systems including numerous ECUs are becoming increasingly complex. In the existing automobile control system, a plurality of ECUs are divided into a plurality of functional domains, and Domain controllers (Domain modules) are provided to manage specific functional domains of the vehicle. The functions of each domain of the vehicle are distributed to the domain controller and the ECU below the domain controller. However, when automobile products are developed, the ECU needs to be customized and developed for each subfunction, so that the development amount is huge; when the automobile function is updated, the domain controller and the ECU need to be changed at the same time, and the workload of function upgrading is large. All the above results in the high cost of the whole vehicle for new development and upgrade.

Disclosure of Invention

Embodiments of the present application provide an automobile control system to solve or alleviate one or more technical problems in the prior art.

As one aspect of an embodiment of the present application, an embodiment of the present application provides an automobile control system, including a domain controller and an electronic control unit ECU; the domain controller is connected with one or more ECUs (electronic control units), and the ECUs are connected with the acquisition signal output end of an electronic device of the automobile;

the ECU is used for acquiring acquisition signals on an acquisition signal output end of the electronic device and sending the acquisition signals to the domain controller;

the domain controller is used for receiving the acquisition signal sent by the ECU and analyzing the acquisition signal to obtain the working state information of the electronic device.

In one embodiment, the ECU is connected to a drive input of the electronic device;

the domain controller is used for generating a driving signal and sending the driving signal to the ECU;

the ECU is used for receiving the driving signal and sending the driving signal to a driving input end of the electronic device; the drive signal is for acting on a drive input of the electronic device to drive the electronic device.

In one embodiment, the domain controller is configured to generate the driving signal according to operating state information of the electronic device.

In one embodiment, the ECU includes a plurality of pins; the ECU is used for determining the Identity Identification (ID) of the self-sending message or the ID of the receiving message according to the level values of the pins.

In one embodiment, the ECU is used for sending the working state message to a bus between the ECU and the domain controller; the working state message comprises a signal acquisition and message sending ID;

the domain controller is used for receiving the working state message from the bus and determining the electronic device corresponding to the acquisition signal according to the ID of the sent message.

In one embodiment, the domain controller stores a first mapping relation between the collected signal and the working state information;

and the domain controller is used for analyzing the acquired signals according to the first mapping relation so as to obtain the working state information of the electronic device.

In one embodiment, the domain controller is configured to send a drive message to a bus between the ECU and the domain controller, the drive message including a receive message ID and a drive signal;

the ECU is used for receiving the driving message on the bus according to the self receiving message ID and sending the driving signal in the driving message to the driving input end of the electronic device connected with the ECU.

In one embodiment, the domain controller stores a second mapping relationship between the driving operation and the driving signal; the domain controller is used for generating a driving signal according to the driving operation and the mapping relation which need to be executed.

As an aspect of an embodiment of the present application, an embodiment of the present application further provides an automobile control system, including a domain controller and an electronic control unit ECU; the domain controller is connected with one or more ECUs (electronic control units), and the ECUs are connected with the driving input end of an electronic device of the automobile;

In one embodiment, the ECU includes a plurality of pins; and the ECU is used for determining the self received message ID according to the level values of the pins.

By adopting the technical scheme, the embodiment of the application can analyze the collected signals on the collected signal output end of the electronic device by using the domain controller, or generate the driving signals which can directly act on the driving input end of the electronic device. The ECU only collects and transmits signals, so that when the automobile product is developed and improved, the function updating can be realized by improving software of the domain controller, the function customization of the ECU is not needed, or the ECU with specific functions is selected, and the overall development quantity of the automobile control system is reduced.

The foregoing summary is provided for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present application will be readily apparent by reference to the drawings and following detailed description.

Drawings

In the drawings, like reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily to scale. It is appreciated that these drawings depict only some embodiments in accordance with the disclosure and are therefore not to be considered limiting of its scope.

Fig. 1 shows a schematic structural diagram of an automobile control system according to an embodiment of the present application.

Fig. 2 shows a schematic diagram of collected signal processing according to an embodiment of the present application.

Fig. 3 shows a driving signal processing schematic according to an embodiment of the application.

Fig. 4 shows a schematic structural diagram of a vehicle control system according to an embodiment of the present application.

Fig. 5 shows a schematic structural diagram of a vehicle control system according to an embodiment of the present application.

Detailed Description

In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present application. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.

Fig. 1 shows a schematic structural diagram of an automobile control system according to an embodiment of the present application. As shown in fig. 1, the automobile control system 100 includes a domain controller 101 and an electronic control unit ECU 102; the domain controller 101 is connected with one or more ECUs 102 (three ECUs are taken as an example in the figure), and the ECU102 is connected with the acquisition signal output end of an electronic device 201 of an automobile. The plurality of ECUs 102 may be identical, completely different, or partially identical, for example, the plurality of ECUs 102 respectively connected to the plurality of seats may be identical, and the two ECUs 102 respectively connected to the seats and the lamps may be different.

The ECU102 is configured to obtain a collecting signal at a collecting signal output terminal of the electronic device 201, and send the collecting signal to the domain controller 101. The domain controller 101 is configured to receive a collecting signal sent by the ECU102, and analyze the collecting signal to obtain operating state information of the electronic device.

There may be numerous electronic devices in an automotive control system, such as lights, seats, doors, transmissions, electronic instrumentation, batteries, tank temperature sensors, or a central control panel. Some electronic devices can report operating states to an automobile control system during operation. For example, the door may report the current state of opening or closing, the temperature sensor in the water tank may report the current temperature, and the battery may report the remaining power. The electronic devices comprise a signal acquisition output end so as to report the corresponding working state to an automobile control system through an electric signal.

An ECU is an electronic unit having at least one input port and at least one output port, and is capable of performing mapping of inputs and outputs, including mapping of input ports to output ports, and/or mapping of input signals to output signals. For example, the ECU may parse, convert, or otherwise process a first signal collected at an input port to obtain a second signal having a mapping relationship with the first signal, and output the second signal from an output port having a mapping relationship with the input port. In the embodiment of the present application, the ECU102 is connected to the electronic device 201, collects the collected signal at the collected signal output terminal of the electronic device 201, does not analyze and convert the collected signal, sends the collected signal to the domain controller 101, and analyzes the control signal by the domain controller 101. Therefore, the function of signal analysis processing is moved from the ECU to the domain controller, so that the ECU only collects and transmits signals, and therefore, when automobile products are developed and improved, function updating can be achieved by improving software of the domain controller, functional customization of the ECU is not needed, or the ECU with specific functions is selected, and the overall development quantity of the automobile control system is reduced.

As an example, referring to the collected signal processing schematic shown in FIG. 2, ECU102 may include resistor R1 and resistor R2. In this example, the electronic device 201 includes a load Rx, the load Rx is connected to a node Z between the resistor R1 and the resistor R2, when the operating state of the load Rx changes, the voltage value of the node Z changes, and a port of the load Rx connected to the node Z is a collected signal output port and reflects the operating state of the load Rx. The voltage value of the node Z may be a collected signal collected by the ECU 102. The ECU201 may send the signal from the port of the connection domain controller without analyzing the signal. The analysis here may include, for example, interpretation of the physical meaning of the signal. For example, the collected signal may be a switching signal or a Hall (Hall) signal, the load Rx may be a switching device, the voltage value of the node Z is actually a switching signal, there are only two voltage values corresponding to on and off, and the ECU102 does not interpret the switching device as being in an on state or an off state from the voltage values, but is interpreted by the domain controller. As another example, load Rx may be a thermistor, and the voltage value at node Z reflects the temperature, and ECU102 sends the voltage value at node Z to the domain controller, which determines the temperature of the environment in which the thermistor is located based on the voltage value.

Among the electronic devices in the vehicle, some electronic devices can be controlled by the driving signal provided by the vehicle control system to complete the corresponding action of the driving signal. For example, the electric vehicle door is opened or closed according to the driving signal, the electric seat is adjusted in position according to the driving signal, and the engine is started according to the driving signal. The domain controller 101 may generate a driving signal for driving the electronic device or driving another electronic device according to the operating state information of the electronic device, or may automatically generate the driving signal according to an automatic control program.

By way of example, the ECU102 according to the embodiment of the present application may be further connected to a drive input terminal of the electronic device 201. The domain controller 101 is configured to generate a drive signal and transmit the drive signal to the ECU 102. The ECU102 is configured to receive the driving signal and send the driving signal to the driving input terminal of the electronic device 201. The drive signal is for acting on a drive input of the electronic device to drive the electronic device.

In this example, the domain controller 101 generates a driving signal that can directly act on a driving input terminal of the electronic device, and the ECU receives and transmits only the signal, so that, when developing and improving an automobile product, it is possible to update functions by improving software for the domain controller, and it is not necessary to customize functions for the ECU or select an ECU with a specific function, thereby reducing the amount of development of the entire automobile control system.

As an example, referring to the schematic diagram of the driving signal processing shown in fig. 3, the electronic device 201 may be a motor, the domain controller 101 generates a signal that can directly act on a driving input terminal of the motor, and sends the signal to the ECU102, and the ECU102 sends the driving signal from a port connected to the driving input terminal of the motor, so that the motor can operate according to the driving signal.

The ECU may include a plurality of PINs (also referred to as PINs or PINs). These pins may serve as ports for the ECU to transmit and receive signals, and may also serve other functions. For example, in the above embodiment, the ECU may be connected to the collected signal output terminal of the electronic device through a pin serving as a receiving port, or may be connected to the driving input terminal of the electronic device through a pin serving as an output port.

The control function of the whole vehicle is moved up to the domain controller, so that the ECU can be flexibly selected in the development process without using a specific ECU. Two or more of the plurality of ECUs connected to the domain controller may be of the same type. In some embodiments of the present application, identification of the ECU may be achieved through wiring differences of specific pins. The same ECU can realize self-adaptive configuration and become different communication nodes on the bus. In some embodiments, the ECU is configured to determine its own transmission message ID or reception message ID based on the level values of the plurality of pins. The ECU can be ensured to know the ID of the message to be sent or received by the ECU by configuring the level value of the pin without writing the ID in the program of the ECU, thereby further reducing the customization of the ECU, improving the portability of the ECU and reducing the overall development amount of the automobile control system.

Illustratively, the level value of the pin of the ECU is set high by connecting the pin of the ECU to the power supply. By grounding the pins of the ECU, the pin level value of the ECU is pulled down. The level of the plurality of pins can form a code indicating a plurality of ID values.

The domain controller and the ECU may be connected by a bus. In an exemplary embodiment, the ECU is adapted to send an operating status message on a bus between the ECU and the domain controller. The operating state message may include a collection signal and a transmission message ID of the ECU. The domain controller is used for receiving the working state message from a bus between the ECU and the domain controller. The domain controller can determine which ECU sends the received working state message according to the ID of the sent message, thereby determining the electronic device corresponding to the acquired signal according to the ID of the sent message, and analyzing the working state information of the electronic device according to the acquired signal.

The domain controller may store a first mapping relationship between the collected signal and the operating state information, and analyze the collected signal according to the first mapping relationship to obtain the operating state information of the electronic device. Illustratively, the domain controller establishes a mapping relationship between an ID in a received message (i.e., a transmission message ID of the ECU), a signal value in the received message (i.e., a collected signal), and a state of the electronic device of the vehicle, and calls the mapping relationship to analyze the collected signal in the received message to obtain operating state information of the electronic device.

The ECU may also determine its own received message ID from the level values of the plurality of pins. The domain controller may generate a driving message including a driving signal generated by the domain controller and a reception message ID of the ECU. The domain controller can send the driving message to the bus, and the ECU can receive the driving message comprising the self receiving message ID on the bus and send the driving signal in the driving message to the driving input end of the self-connected electronic device.

The domain controller may store a second mapping relationship between the driving operation and the driving signal, and generate the driving signal according to the driving operation and the mapping relationship, which are required to be performed. Illustratively, the domain controller establishes a mapping relationship between an ID in a transmission message (a reception message ID of the ECU), a signal value in the transmission message (a driving signal), and a driving operation to an input port of the automotive electronic device. And based on the operation of the driving input port of the automobile electronic device, calling the mapping relation to convert the operation of the driving input port of the automobile electronic device into the ID in the message to be sent and the signal value in the message to be sent.

In the technical scheme of the embodiment of the application, a plurality of control logics originally integrated by an ECU are integrated in the domain controller. The input information required by the control logic can be from the working state information of the electronic device analyzed and obtained by the domain controller, can also be from other network communication messages, or can be from the state of the automobile electronic device collected by the domain controller. The input information required by the control logic may also come from other acquisition means.

In some embodiments, according to the control logic, a drive signal acting on a drive input of an electronic device of the vehicle can be transmitted. The output of the control logic can be sent to other vehicle-mounted display devices through bus messages for state display; the output of the control logic can drive the automobile electronic device corresponding to the ECU connected with the control logic; the output of the control logic may also be passed to other domain controllers/controllers.

As an exemplary embodiment, as shown in the structural diagram of the Vehicle Control system shown in fig. 4, the Vehicle Control system may include a plurality of Domain controllers, such as a Body Domain Controller (BDCM) 114, a Vehicle Domain Controller (VDCM) 113, an Information Domain Controller (IDCM) 111, and an automatic driving Domain controller (ADCM) 112. In other embodiments, the plurality of domain controllers may include one or more of the above, or other domain controllers.

The automotive control system may also include an onboard telematics processor T-BOX 202. The onboard T-BOX 202 may include an onboard host, antennas, power harnesses, fuse boxes, etc., which may, in some examples, have integrated therein a satellite communications module and a mobile communications module. The vehicle-mounted T-BOX 202 can provide a remote communication interface for a whole vehicle, and provides service functions of vehicle data acquisition, vehicle track recording, vehicle fault monitoring, vehicle remote control (such as unlocking or locking, air conditioner control, vehicle window control, engine starting and the like), driving behavior analysis and the like.

The onboard T-BOX 202 connects a plurality of domain controllers. Illustratively, onboard T-BOX 202 is coupled to a plurality of domain controllers through gateways 203. The onboard T-BOX 202 is used to connect to a remote server 204 to establish a connection of the domain controller to the remote server. The onboard T-BOX 202 provides the various service functions described above by establishing a connection with a remote server through a domain controller. Illustratively, the remote server may comprise a server of a Telematics Service Provider (TSP).

There are many forms of connection networks for the onboard T-BOX and the domain controller. For example, the on-board T-BOX and the domain Controller may be connected through Ethernet (Ethernet), Controller Area Network (CAN), or Controller Area Network with Flexible Data rate (CAN FD). The connection Network between the domain Controller and the ECU102 may also have various forms, for example, the domain Controller and the ECU102 may be connected by a Controller Area Network (CAN), a Controller Area Network with Flexible Data rate (CAN FD), a Local Interconnect Network (LIN), or a Low-Voltage Differential Signaling (LVDS).

In an exemplary embodiment, the onboard T-BOX and the domain controller may be connected via an ethernet, and the domain controller and the ECU may be connected via a CAN bus. The vehicle-mounted T-BOX and the domain controller are connected through the Ethernet of high-speed communication, and a fast channel is provided for large-flow data generated by service functions such as various driving data acquisition, driving track recording, vehicle fault monitoring, vehicle remote control, driving behavior analysis and the like. The domain controller and the ECU CAN be connected through a CAN bus, so that the high reliability of the automobile control system is guaranteed.

Illustratively, the body area controller 114 is used to manage the functions of the vehicle itself, such as controlling the lights, adjusting the seat position, opening and closing the doors, controlling the wipers, or opening and closing the windows. The ECU connected to the body area controller 114 may be connected to the acquisition signal output terminals of electronic devices such as a vehicle lamp, a seat, a door, a wiper, or a window, or may be connected to the driving input terminals of these electronic devices.

The vehicle domain controller 113 is used for managing functions related to vehicle power, for example, an ECU connected to the vehicle domain controller 113 may be connected to a signal collecting output terminal of an electronic device such as a battery, a steering gear, or a transmission, or may be connected to a driving input terminal of the electronic device.

The information domain controller 111 is used for managing information and entertainment related functions of the automobile, for example, an ECU connected to the information domain controller 111 may be connected to a signal collecting output terminal of an electronic device such as a central control panel or a voice player, and may also be connected to a driving input terminal of the electronic device.

The autopilot domain controller 112 is used to manage functions related to the automatic driving of the vehicle, for example, an ECU connected to the autopilot domain controller 112 may be connected to the output terminals of the collected signals of electronic devices such as an image collecting device and an autopilot alarm, or may be connected to the input terminals of the electronic devices.

As another exemplary embodiment, as a structural schematic diagram of the vehicle control system shown in fig. 5, the vehicle control system may include a plurality of domain controllers connected in sequence to form a ring. As an example, the vehicle control system may include first to third domain controllers 301 to 30 as shown in fig. 5. At least one of the plurality of domain controllers, which are sequentially connected to form a ring, for example, the first domain controller 301 can be connected to the remote server 204 to establish a connection of the plurality of domain controllers with the remote server 204. According to the automobile control system, the first domain controller integrates the vehicle-mounted T-BOX function and various analysis and control functions in the corresponding function domain, the connection framework of the automobile control system is optimized, and wiring is reduced.

In an exemplary embodiment, if the automobile control system is a ring structure composed of three domain controllers, there are only three communication harnesses in the domain controllers. Three domain controllers can communicate directly between each other without communication across domain controllers. If the automotive system has only two functional domains, the two domain controllers can communicate directly. Compared with the implementation mode with a larger number, the above example can realize direct communication between two domain controllers without other domain controllers on the premise of keeping the number of the wire harnesses as small as possible, and further optimizes the connection architecture of the automobile control system.

The embodiment of the application also provides an automobile control system, and the structure of the system can refer to the foregoing embodiment, and the system comprises a domain controller and an electronic control unit ECU. The domain controller is connected with one or more ECUs, and the ECUs are connected with the driving input end of an electronic device of the automobile. The domain controller is used for generating a driving signal and sending the driving signal to the ECU. The ECU is used for receiving the driving signal and sending the driving signal to the driving input end of the electronic device. The drive signal is for acting on a drive input of the electronic device to drive the electronic device. The domain controller in the system generates a driving signal which can directly act on a driving input end of the electronic device, and the ECU only receives and transmits the signal, so that when the automobile product is developed and improved, the function update can be realized by improving software of the domain controller, the ECU does not need to be customized or selected, and the overall development quantity of the automobile control system is reduced.

In one embodiment, the ECU includes a plurality of pins; and the ECU is used for determining the self received message ID according to the level values of the pins. Various technical details of the automobile control system can be set by referring to the corresponding descriptions in the previous embodiment, and have corresponding effects.

Other configurations of the vehicle control system of the above-described embodiment can be adopted by various technical solutions known to those skilled in the art now and in the future, and will not be described in detail herein.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means 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 application. 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 described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. One skilled in the relevant art will recognize, however, that the subject matter of the present application can be practiced without one or more of the specific details, or with other methods, components, materials, devices, steps, and so forth. In other instances, well-known structures, methods, devices, implementations, materials, or operations are not shown or described in detail to avoid obscuring aspects of the application.

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 one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

It should be noted that although the various steps of the methods of the present application are depicted in the drawings in a particular order, this does not require or imply that the steps must be performed in this particular order, or that all of the shown steps must be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions, etc. The above-described figures are merely schematic illustrations of processes involved in methods according to exemplary embodiments of the present application and are not intended to be limiting. It will be readily understood that the processes shown in the above figures are not intended to indicate or limit the chronological order of the processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, e.g., in multiple modules.

Furthermore, while the spirit and principles of the application have been described with reference to several particular embodiments, it is to be understood that the application is not limited to the disclosed embodiments, nor is the division of aspects, which is merely for convenience of presentation, to imply that features in these aspects cannot be combined to advantage. The application is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

While the present invention has been described with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. An automobile control system is characterized by comprising a domain controller and an Electronic Control Unit (ECU); the domain controller is connected with one or more ECUs (electronic control units), and the ECUs are connected with a signal acquisition output end of an electronic device of the automobile;

the ECU is used for acquiring acquisition signals on an acquisition signal output end of the electronic device and sending the acquisition signals to a domain controller;

and the domain controller is used for receiving the acquisition signal sent by the ECU and analyzing the acquisition signal to obtain the working state information of the electronic device.

2. The vehicle control system according to claim 1, wherein the ECU is connected to a drive input of the electronic device;

the ECU is used for receiving the driving signal and sending the driving signal to a driving input end of the electronic device; the drive signal is for acting on a drive input of an electronic device to drive the electronic device.

3. The vehicle control system according to claim 2, wherein the domain controller is configured to generate the driving signal according to operating state information of the electronic device.

4. The vehicle control system of claim 2, wherein the ECU includes a plurality of pins; and the ECU is used for determining the ID of the self sending message or the ID of the self receiving message according to the level values of the pins.

5. The vehicle control system of claim 4, wherein the ECU is configured to send an operating status message on a bus between the ECU and the domain controller; the working state message comprises the acquisition signal and the ID of the sending message;

and the domain controller is used for receiving the working state message from a bus and determining the electronic device corresponding to the acquisition signal according to the ID of the transmission message.

6. The vehicle control system according to claim 5, wherein the domain controller stores a first mapping relationship between the collected signal and the operating state information;

and the domain controller is used for analyzing the acquisition signal according to the first mapping relation so as to obtain the working state information of the electronic device.

7. The vehicle control system according to claim 4, wherein the domain controller is configured to send a drive message onto a bus between the ECU and the domain controller, the drive message including the received message ID and the drive signal;

and the ECU is used for receiving the driving message on a bus according to the ID of the receiving message and sending the driving signal in the driving message to the driving input end of the electronic device connected with the ECU.

8. The vehicle control system of claim 7, wherein the domain controller stores a second mapping of drive operation to drive signal; the domain controller is configured to generate the driving signal according to a driving operation to be performed and the mapping relationship.

9. An automobile control system is characterized by comprising a domain controller and an Electronic Control Unit (ECU); the domain controller is connected with one or more ECUs (electronic control units), and the ECUs are connected with the driving input end of an electronic device of the automobile;

10. The vehicle control system of claim 9, wherein the ECU includes a plurality of pins; and the ECU is used for determining the ID of the received message according to the level values of the pins.