CN111923849A

CN111923849A - Vehicle-mounted control device and in-vehicle communication system

Info

Publication number: CN111923849A
Application number: CN201910393078.7A
Authority: CN
Inventors: 万蕾; 王学寰
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2019-05-13
Filing date: 2019-05-13
Publication date: 2020-11-13

Abstract

The application relates to a vehicle-mounted control device and an in-vehicle communication system which can be applied to a common automobile, the device specifically comprises: the system comprises at least one backboard and at least one plug board, wherein each backboard is connected with one or more of the at least one plug board, and the at least one backboard comprises a first backboard; the first backboard is used for realizing data exchange between at least one plug board and data exchange between the at least one plug board and other equipment, and the other equipment is a device except the vehicle-mounted control device; and the at least one plug board is used for realizing the logic function of the vehicle-mounted control device. The vehicle-mounted control device can realize logic functions such as planning, decision making, control and the like, can be applied to vehicles, particularly intelligent automobiles, and can be applied to other similar communication fields or application scenes related to non-internet of vehicles.

Description

Vehicle-mounted control device and in-vehicle communication system

Technical Field

The application relates to the technical field of communication, in particular to a vehicle-mounted control device and an in-vehicle communication system.

Background

With the development of society, intelligent automobiles are gradually entering the daily lives of people. Various vehicle-mounted devices in the automobile play an important role in the processes of auxiliary driving, automatic driving and communication of the intelligent automobile. Various in-vehicle facilities such as gateways, switches, bridges, ether and the like which are arranged on the vehicle transmit various sensing collected or communication data at any time in the driving process of the vehicle, have important functions and meanings for vehicle interconnection and communication between workshops and drivers, and effectively improve the safety and comfort of vehicle driving.

Vehicle electronic/electrical (E/E) systems implement the interconnections and functions of electronic and electrical controllers, sensors, actuators, etc. within a vehicle, and the E/E architecture includes all electronic and electrical components, interconnections/topologies, and their logical functions. The in-vehicle network is a framework of an E/E architecture, and is connected with various in-vehicle Electronic Control Units (ECUs) to complete communication among the ECUs such as control, storage, execution, sensors and the like.

The current E/E system is generally customized for a certain vehicle model, and the calculation power of the controller (i.e. the calculation control capability of the controller) is different for each vehicle model and even for different grades of vehicles of the same vehicle model due to different vehicle performances, so the E/E system needs to be redesigned for different vehicle models and even for different grades of vehicles of the same vehicle model. It can be seen that the E/E system of current vehicles is less flexible.

Disclosure of Invention

The application provides a vehicle-mounted control device and an in-vehicle communication system, which are used for solving the problem that an E/E system of a vehicle in the prior art is poor in flexibility.

In a first aspect, an embodiment of the present application provides an onboard control device, including: the system comprises at least one backboard and at least one plug board, wherein each backboard is connected with one or more of the at least one plug board, and the at least one backboard comprises a first backboard; the first backboard is used for realizing data exchange between at least one plug board and data exchange between the at least one plug board and other equipment, and the other equipment is a device except the vehicle-mounted control device; and the at least one plug board is used for realizing the logic function of the vehicle-mounted control device.

The vehicle-mounted control device that this application embodiment provided is convenient for the addition or the reduction of backplate, picture peg, and the quantity of backplate, picture peg can be adjusted according to actual demand among the vehicle-mounted control device, through the quantity of control backplate, picture peg to can control vehicle-mounted control device's power of calculation (calculation control ability promptly), for example, when the power of calculation of vehicle demand is great, can be through increasing vehicle-mounted control device's backplate, the quantity of picture peg, thereby can increase vehicle-mounted control device's power of calculation. For another example, when the calculation force required by the vehicle is small, the calculation force of the vehicle-mounted control device can be reduced by reducing the number of the back plate and the plug board of the vehicle-mounted control device. Therefore, in the embodiment of the application, the vehicle-mounted control device can support the architecture of hardware function expansion and can be universally suitable for various vehicle types.

In one possible design, the at least one board includes a first board, the first board including one or more board partitions, wherein the one or more board partitions are independent of each other; and/or the first backplane comprises one or more backplane partitions, wherein the one or more backplane partitions are independent of each other. In the design, the insertion plate and the back plate are partitioned, so that each insertion plate partition and each back plate partition have independent working capacity, calculation force backup or calculation force expansion in the plate can be formed, and the performance of the vehicle-mounted control device can be improved.

In one possible design, the logic functions implemented by the first board are implemented by a single board partition of the first board; or the logic function realized by the first plug-in board is realized by the mutual cooperation of two or more plug-in board partitions of the first plug-in board. In the above design, the board partition for work may be determined according to the computing power requirement of the vehicle, for example, if the computing power requirement of the vehicle is small, a single board partition may work, and if the computing power requirement of the vehicle is large, a plurality of board partitions may assist each other to work.

In one possible design, if a first board partition of a first board fails, the logical function implemented by the first board partition is implemented by a second board partition of the first board. In the design, when a certain plug board partition fails, other plug board partitions can take over the work of the certain plug board partition, so that the in-board computing power backup can be formed, and the condition that the vehicle-mounted control device loses control capability due to the failure of the certain plug board partition can be avoided.

In one possible design, each board partition of the first board is connected to at least one backplane partition of the first backplane; and/or each backplane partition of the first backplane is connected with at least one board partition of the first board. In the design, each plug-in board partition is connected with at least one backboard partition, so that when a certain backboard partition fails, the plug-in board partition connected with the backboard partition can transmit data through other backboard partitions, and when the certain plug-in board partition fails, the other plug-in board partitions can take over the work of the certain plug-in board partition, thereby realizing the backup of the computational power in the board.

In one possible design, the board partitions of the first board are connected to the backplane partitions of the first backplane one by one. In the design, the insert plate partitions are connected with the back plate partitions one by one, so that the complexity of wiring of the back plate and the insert plate can be reduced, and the cost can be reduced.

In one possible design, the at least one backplane partition of the first backplane includes a routing subsystem, respectively; each routing subsystem is used for realizing data exchange between the plug board partitions connected with the back board partition where the routing subsystem is located and other equipment. In the design, the routing subsystems included in the backplane partitions can work independently, so that the work of other backplane partitions can not be influenced when a certain backplane partition of the backplane fails.

In one possible design, the first backplane comprises at least one external interface; and the external interface is used for realizing data exchange between the first backboard and other equipment.

In one possible design, the first backplane comprises at least one interface partition, each interface partition comprising one or more of the at least one external interfaces, wherein each interface partition connects to at least one backplane partition of the first backplane, and/or each interface partition of the first backplane connects to at least one backplane partition of the first backplane. In the above design, by partitioning the external interfaces, when a certain external interface fails, data exchange between the backplane and other devices may not be affected.

In one possible design, the other device includes at least two sensors with the same or similar detection functions, wherein the external interfaces corresponding to the at least two sensors with the same or similar detection functions are respectively located in different interface partitions; and/or the other equipment comprises at least two executors with the same or similar execution functions, wherein the external interfaces corresponding to the executors with the same or similar execution functions are respectively positioned in different interface partitions.

Through the design, when a certain backboard partition or plug board partition fails, other backboard partitions or plug board partitions can be detected through sensors with the same or similar functions, or corresponding actions are executed through actuators with the same or similar functions, so that a vehicle can still have certain detection sensing capability or certain control capability when the certain backboard partition or plug board partition fails, the situation that the whole vehicle cannot sense the 'blind' state due to the failure of the certain backboard partition or plug board partition is avoided, the situation that the whole vehicle cannot be controlled by a controller due to the failure of the certain backboard partition or plug board partition is avoided, emergency measures can be taken for safe roadside parking, or the situation that automatic driving grades of people take over driving is reduced.

In one possible embodiment, sensors with the same or similar detection function are sensors with the same detection range; or, the sensors with the same or similar detection functions refer to the sensors with the same detection distance; alternatively, sensors with the same or similar detection function refer to sensors with the same sensor type; or, the sensors with the same or similar detection functions refer to the sensors with the same application scene; alternatively, an actuator that performs the same or similar function refers to an actuator that performs the same or similar action.

In one possible design, at least one of the boards includes at least two second boards, and each of the at least two second boards is capable of implementing a first logic function, and the first logic function is a part or all of the logic function. In the design, 2 or more plugboards with the same logic function are inserted into the back board, for example, the plugboards all complete the automatic driving function, and the calculated force backup between any two plugboards can be formed.

In one possible design, if one of the second cards fails, the logical functions performed by the partitions of the second card are performed by one or more of the other second cards. Through the design, the logic function realized by the plug board can not be influenced when a certain plug board partition fails.

In one possible design, at least one of the boards includes at least two third boards, and the at least two third boards cooperate with each other to implement a second logic function, where the second logic function is a part or all of the logic function. In the design, 2 or more plugboards with the same logic function are inserted into the back board, for example, the automatic driving function is completed, and any two plugboards with the same logic function can cooperate with each other, so that the calculated board force expansion can be formed between any two plugboards.

In one possible design, the device is deployed on the chassis of a vehicle. In the above design, external protection of the in-vehicle control device can be enhanced by disposing the in-vehicle control device on the chassis of the vehicle.

In a second aspect, an embodiment of the present application provides an in-vehicle communication system, including: at least two onboard control devices as described above in the first aspect; wherein, at least two on-vehicle controlling means all can realize the third logic function.

In the implementation of the application, 2 or more vehicle-mounted control devices which can realize a certain logic function are deployed in the in-vehicle communication system, for example, the automatic driving function is completed, and the calculation backup between any two vehicle-mounted control devices can be formed. Therefore, when a certain vehicle-mounted control device fails, other vehicle-mounted control devices can realize part or all of the logic functions of the vehicle-mounted control device.

In one possible embodiment, the third logic function is implemented by an onboard control device; alternatively, the third logic function is realized by cooperation of two or more of the at least two on-board control devices. In the above design, by disposing 2 or more vehicle-mounted control devices that can all implement a certain logic function in the in-vehicle communication system, for example, an automatic driving function can be implemented, and a device-to-device calculation power backup or calculation power expansion can be formed between any two vehicle-mounted control devices.

In one possible embodiment, the third logic function is implemented by a further on-board control device of the at least two on-board control devices if one of the at least two on-board control devices fails. Through the design, when a certain vehicle-mounted control device fails, the in-vehicle communication system can still realize part or all of the logic functions realized by the vehicle-mounted control device.

In one possible design, the system further comprises a third logically functionally related further device, the further device comprising at least one sensor and/or at least one actuator; wherein the other is connected with at least two vehicle-mounted control devices.

In one possible design, the other devices are respectively connected with at least two vehicle-mounted control devices through a plurality of connecting wires; or, other equipment is connected with at least two vehicle-mounted control devices through a bus. In the design, other equipment can be connected with at least two vehicle-mounted control devices, so that basic information for guaranteeing normal work of the system can be provided by information of another path when one path of information fails.

In one possible embodiment, the at least two onboard control devices each comprise one or more first interfaces for data exchange between the at least two onboard control devices.

In one possible embodiment, the at least two onboard control devices comprise a first onboard control device and a second onboard control device, wherein each first interface of the first onboard control device is connected to at least one first interface of the second onboard control device and/or each first interface of the second onboard control device is connected to at least one first interface of the first onboard control device. In the design, any two vehicle-mounted control devices can be connected through a plurality of lines, so that data exchange can be carried out through other lines when a certain line fails.

In one possible embodiment, the first interfaces of the first on-board control devices are connected one to the first interfaces of the second on-board control devices. Through the design, under the condition that any one communication line fails, other lines are connected, and the condition that the load pressure of the partitioned routing system is overlarge due to the fact that data needs to be forwarded by the routing system of a certain partition is avoided.

In one possible design, at least two onboard control devices are deployed on the chassis of the vehicle. In the above design, external protection of the in-vehicle control device can be enhanced by disposing the in-vehicle control device on the chassis of the vehicle.

In one possible design, the at least two onboard control devices comprise a main onboard control device and a standby onboard control device, wherein the computational control capacity of the main onboard control device is greater than the computational control capacity of the standby onboard control device or the computational control capacity of the main onboard control device is identical to the computational control capacity of the standby onboard control device.

In a third aspect, embodiments of the present application provide a vehicle chassis including an onboard control device as described in the first aspect above.

Drawings

Fig. 1 is a schematic diagram of an in-vehicle communication system according to an embodiment of the present disclosure;

fig. 2 is a schematic structural diagram of an on-vehicle control device according to an embodiment of the present application;

FIG. 3 is a schematic view of a backplate according to an embodiment of the present application;

fig. 4 is a schematic view of a surface of a backplane on which a slot is located according to an embodiment of the present disclosure;

fig. 5 is a schematic view of a socket according to an embodiment of the present disclosure;

fig. 6 is a schematic view of a surface of a backplane on which an external interface is located according to an embodiment of the present disclosure;

FIG. 7 is a schematic diagram of a backplane partition according to an embodiment of the present application;

fig. 8 is a schematic diagram illustrating a connection manner between a backplane partition and a board partition according to an embodiment of the present disclosure;

fig. 9 is a schematic diagram of another connection manner between a backplane partition and a board partition according to an embodiment of the present disclosure;

fig. 10 is a schematic diagram of another connection manner between a backplane partition and a board partition according to an embodiment of the present disclosure;

FIG. 11 is a schematic diagram illustrating a connection between a first vehicle-mounted control device and a second vehicle-mounted control device according to an embodiment of the present disclosure;

FIG. 12 is a schematic diagram illustrating a connection between a first vehicle-mounted control device and a second vehicle-mounted control device according to an embodiment of the present application;

FIG. 13 is a schematic diagram illustrating a connection between a first vehicle-mounted control device and a second vehicle-mounted control device according to an embodiment of the present application;

FIG. 14 is a schematic diagram illustrating connection between another apparatus and two onboard control devices according to an embodiment of the present disclosure;

FIG. 15 is a schematic diagram illustrating connection between another apparatus and two onboard control devices according to an embodiment of the present disclosure;

fig. 16 is a schematic connection diagram of a first vehicle-mounted control device and a second vehicle-mounted control device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.

With the advent of intelligent driving, intelligent vehicles become the target of intensive research of various manufacturers.

The intelligent driving comprises auxiliary driving and automatic driving, and the key technology of the realization is as follows: the method comprises the steps of sensing positioning, planning decision (such as path planning, motion planning and the like), executing control and the like, wherein the sensing positioning, the planning decision, the executing control and the like are mainly concentrated on an on-board controller.

Vehicle electronic/electrical (E/E) systems implement the interconnections and functions of electronic and electrical controllers, sensors, actuators, etc. within a vehicle, and the E/E architecture includes all electronic and electrical components, interconnections/topologies, and their logical functions. The in-vehicle communication network is a framework of an E/E architecture, and is connected with various in-vehicle Electronic Control Units (ECUs) to complete communication among the ECUs such as control, storage, execution and sensors. The low-time-delay, robust, safe and reliable in-vehicle communication network is a necessary condition for all control units in the intelligent vehicle to play a functional role, and is also a guarantee for safe running of the vehicle, particularly an automatic driving vehicle. As Information and Communication Technology (ICT) technology enters the automotive industry, and in particular Advanced Driver Assistance System (ADAS)/Autonomous Vehicle (AV), Internet connected vehicle (connected car), smart car (smart/interactive car), digital car (digital car), unmanned car (unmanned car, driver car, pilot car/autonomous car), Internet of vehicles (Internet of vehicles, IoV), in-vehicle infotainment (IVI), etc., ICT features on automobiles and rapid development, E/E architecture and in-vehicle communication network are increasingly important for automobiles.

The automobile is in a high-speed running state in a use state, and extremely high requirements are made on functional safety. For vehicles, in particular ADAS-and even AV-capable vehicles, the transition from human driving to autonomous driving places higher demands on the functional safety of the in-vehicle communication network.

Computing and communication systems are critical to ICT-based vehicles, particularly autonomous vehicles. The vehicle computing system mainly comprises various computing centers, controllers and corresponding storage and safety matching subsystems and is responsible for computing and controlling various logic functions. For example, the autonomous driving controller is responsible for sensing, fusing, outputting planning, and controlling the vehicle for autonomous driving. If the autonomous driving controller is failed randomly or due to external factors such as collision, vibration, etc., if the vehicle in autonomous driving suddenly loses control command, unpredictable results will occur. In addition, failure of the communication system is also a concern. Theoretically, electronic devices including a switching chip or a physical layer (PHY) chip, a cable or a connector, a power supply, and the like may have random failures, or may be damaged by loosening and falling during collision and bump. Failure of the gateway/controller/interface/communication link can cause communication disruption in the in-vehicle communication network, and such failures can also present a risk to the vehicle, particularly an autonomous vehicle.

The prior art lacks of consideration related to the functional safety of the computing and communication system, and does not provide a method for supporting the automobile, particularly an automatic driving automobile, to implement emergency measures such as safe parking and the like when the above failure problem occurs. Therefore, when the above failure problem occurs, how to control the vehicle, especially the autonomous vehicle, by the calculation and communication system to implement emergency measures such as safe parking becomes a difficult point for technical implementation. One of the problems to be solved by those skilled in the art is how to implement communication redundancy backup of an on-board controller to improve the safety of automobiles, particularly intelligent automobiles.

On the other hand, the current E/E system is generally customized for a certain vehicle model, and the calculation power of the controller (i.e. the calculation control capability of the controller) is different for each vehicle model and even for different grades of vehicles of the same vehicle model, so the E/E system needs to be redesigned for different vehicle models and even for different grades of vehicles of the same vehicle model. The industry has not yet proposed a framework capable of supporting hardware function expansion, and the framework can be universally adapted to various vehicle types. How to implement an on-board controller capable of supporting hardware function expansion to improve flexibility and adaptability of the on-board controller is one of the problems to be solved by those skilled in the art.

The embodiment of the application provides a vehicle-mounted control device and an in-vehicle communication system, and is used for solving the problems that an E/E system of a vehicle in the prior art is poor in flexibility and low in safety. The method and the device are based on the same technical conception, and because the principles of solving the problems of the method and the equipment are similar, the implementation of the device and the method can be mutually referred, and repeated parts are not repeated. The embodiment of the application provides a vehicle-mounted control device and an in-vehicle communication system, which can be applied to an in-vehicle computing function, a communication function and a corresponding system, in particular to an in-vehicle computing function, a communication function and a corresponding system of an automatic driving vehicle.

The scenario used in this application may be a gateway/controller failure or an interface/link failure, as shown in fig. 1, a connection between a sensor/actuator and a gateway, a connection between a sensor/actuator and a controller, a connection between a gateway 1 and a gateway 2, and a connection between a gateway 1 and a controller may all fail. The gateway 1 and gateway 2, the controller may also have an overall failure problem of the gateway. The overall failure of the gateway theoretically may include the possibility of random failure of electronic devices such as a computing chip, a storage chip, a switching chip, a PHY chip, a cable, a connector, and a power supply, or the possibility of failure caused by loosening, falling, and damage in collision and bump. Failure of the above components or units can lead to failure of the computing and communication systems, which can compromise the functional safety of the vehicle, in particular of the autonomous vehicle.

In the embodiments of the present application, the plural number means two or more.

It is to be understood that the terms "first," "second," and the like in the description of the present application are used for descriptive purposes only and not for purposes of indicating or implying relative importance, nor for purposes of indicating or implying order.

The following describes a vehicle-mounted control device and an in-vehicle communication system provided in an embodiment of the present application in detail with reference to the drawings.

The application provides an on-vehicle controlling means. The device includes: at least one backplane, and at least one interposer, wherein each backplane connects to one or more of the at least one interposer. And the backboard is used for realizing data exchange between at least one plug board and data exchange between the at least one plug board and other equipment, and the other equipment is a device except the vehicle-mounted control device. And the at least one plug board is used for realizing the logic function of the vehicle-mounted control device. For example, taking an example that the apparatus includes two backplanes and 3 plugboards, where the backplane 1 is connected to the plugboard 1, and the backplane 2 is connected to the plugboard 2 and the plugboard 3, as shown in fig. 2, the backplane 2 can implement data exchange between the plugboard 2 and the plugboard 3, that is, implement data exchange between two or more plugboards in the same backplane, and/or the backplane 2 can implement data exchange between the plugboard 2 and the plugboard 1 and/or data exchange between the plugboard 3 and the plugboard 1, and/or the backplane 2 can implement data exchange between the plugboard 2 and/or the plugboard 3 and other devices. It should be understood that the illustration is merely an exemplary illustration and the number of backplanes, cards, connection of backplanes to cards, etc. included in the device is not specifically limited.

Wherein the other devices may include, but are not limited to, one or more of the following: sensors (such as millimeter wave radar, laser radar, ultrasonic radar, camera, positioning system such as Global Positioning System (GPS), inertial sensors such as Inertial Measurement Unit (IMU), speed sensor, acceleration sensor, humidity sensor, light intensity sensor, etc.), actuators (i.e. electronic control unit of actuator, such as servo motor electronic control unit, electronic control unit of hydraulic device or special system ECU), special systems such as anti-lock braking system (ABS), electronic stability control system (ESP) system, etc., hereinafter referred to as actuator in this application), and gateways (i.e. location gateways, hereinafter referred to as gateways for this application, for assuming routing and switching functions, is a switch or router, and can be independent or integrated with the vehicle-mounted control device). In addition, other devices may also include other onboard controls.

The vehicle-mounted control device can be used for undertaking calculation and control of a certain function, can be independent or integrated with a gateway, and specifically can be a vehicle-mounted calculation platform or a vehicle-mounted computer, a domain controller, a multi-domain controller, such as an automatic driving controller, an infotainment controller and the like. By way of example, the logic functions of the in-vehicle control device may include, but are not limited to, autonomous driving, support, infotainment, vehicle control, path planning, motion prediction, path prediction, sensory positioning, and the like. The onboard control apparatus is disposed in a vehicle.

As a possible implementation mode, the vehicle-mounted control device designed by the embodiment of the application can be deployed on a chassis of a vehicle to form a vehicle-mounted communication chassis. External protection of the onboard control device may be enhanced by deploying the onboard control device on the chassis of the vehicle.

It should be understood that the network element (such as a vehicle-mounted control device, a sensor, an actuator, a gateway, etc.) related to the embodiment of the present application is a logical concept, and in practice, the form of the network element may be a physical device, a box, or a single board, or a function implemented by a chip or a region on the single board. In practice, a plurality of network elements may also be combined into one device, for example, a gateway and a vehicle-mounted control device may be combined into one device in the embodiment of the present application, where the backplane corresponds to a logical function of the gateway and the board corresponds to a logical function of the controller.

For convenience of description, the first backplane included in the at least one backplane and the first interposer included in the at least one interposer are taken as examples in the following.

In one implementation, one side of the first backplane may include one or more slots, and the first backplane may be connected to and plugged into the slots. For example, as shown in fig. 3, the backplane may include three slots, so that the backplane can support 3 boards. It should be understood that the illustration is merely exemplary, and the number and the position of the slots included in the back plate are not limited specifically.

In specific implementation, a certain distance can be reserved between any two slots, so that a certain distance can be reserved between the plugboards. For example, as shown in fig. 4, any two slots may be spaced 6mm apart, the thickness of the board may be 14mm, the length of the board may be 345mm, and so on. The lengths are illustrative and do not account for the spacing between slots. The thickness, length, etc. of the interposer are specifically defined.

Further, the slots on the first backplane may include at least one power pin, at least one internal interconnection pin, an external interface pin, and the like. The power supply contact pin can be used for supplying power to the back plate, the internal interconnection contact pin can be used for realizing data exchange among all the plugboards, and the external interface contact pin can be used for realizing data exchange between the plugboard and other equipment. Taking the example that the back plate includes 3 slots, it can be seen from fig. 5. Fig. 5 is an exemplary illustration only, and the number, location, number of pins in the socket, and location of the socket are not particularly limited.

The other side of the first backplane may comprise at least one external interface, such as a CAN interface, an ethernet interface, a Gigabit Multimedia Serial Link (GMSL) interface, etc., as shown in fig. 6. The external interface is used for realizing data exchange between the first backboard and other equipment (such as sensors, actuators, gateways, other vehicle-mounted control devices and the like).

In an embodiment of the present application, the first board may include one or more board partitions, wherein the one or more board partitions are independent of each other. In addition, the first backplane may also include one or more backplane partitions, wherein the one or more backplane partitions are independent of each other, and the one or more backplane partitions each have the capability to implement the logical function implemented by the first board. For example, taking the example that the first backplane includes backplane partition 1 and backplane partition 2, the first backplane may be as shown in FIG. 7.

It should be noted that, in the embodiment of the present application, the meaning of the partition is that two or more units having the same calculation or communication function may be on the same board (a backplane or an interposer may be used as a board), and each unit has an independent device capable of independently operating, and is not affected by the failure of other partitions.

The backplane partition involved in the embodiments of the present application: the back board partitions are respectively provided with independent routing functions and independent slots to form independent routing exchange, and the single board or external communication capacity is independently carried out.

And the slots on each backboard partition can be connected with other backboard partitions. Or can be connected with the back panel only in a partition mode.

The embodiment of the application relates to the partition of the plugboard: the board partitions have units which work independently and realize the same logic function, for example, the automatic driving control function can be realized by one board, the board can be divided into A, B board partitions, and each board partition has independent chips and devices to form independent computing power. Meanwhile, the plug board is divided into zones, and an independent contact pin is connected with the slot of the back board.

And the pins on each plug board partition can be connected with other plug board partitions. Or can be connected with the local plug board in a partition mode.

Further, at least one backplane partition of the first backplane may each comprise a routing subsystem, which may be independent, i.e. the routing subsystems may operate independently. Each routing subsystem is used for realizing data exchange between each plug board partition connected with the back board partition where the routing subsystem is located and data exchange between the plug board partition connected with the back board partition where the routing subsystem is located and other equipment. For example, if the backplane partition 1 is connected to the board partitions 1 to 3, the routing subsystem in the backplane partition 1 may implement data exchange between any two board partitions in the board partitions 1 to 3, and may implement data exchange between any board partition in the board partitions 1 to 3 and other devices.

The term "independent" in the embodiments of the present application means the ability to operate independently, but is not limited to only operating independently, and may also cooperate with each other. I.e. "one or more board partitions are independent of each other", it can also be understood that: the one or more board partitions each have the capability to implement the logical function implemented by the first board. Similarly, "one or more backplane partitions are independent of each other" may also be understood as: the one or more backplane partitions are each capable of implementing the logical function implemented by the first backplane.

In a specific implementation, the logic function implemented by the first board may be implemented by a single board partition of the first board. Or, the logic function realized by the first board is realized by the mutual cooperation of two or more board partitions of the first board, for example, if the computing power of the first board partition in the first board is insufficient, the second plug-in partition in the first board can assist the first board partition to realize the logic function which the first board partition should realize, that is, the first board partition and the second board partition cooperate with each other to realize the logic function realized by the first board, so that computing power expansion in the board can be formed, and the performance of the first board can be improved.

Because each board partition of the first board has the capability of independent work, when a certain board partition in the first board fails, the work of the failed board partition can be replaced by other board partitions in the first board. For example, if a first board partition of the first board fails, the logic function implemented by the first board partition is implemented by a second board partition of the first board. The second board partition may be a board partition, or may be multiple board partitions, which is not limited herein.

For example, the one or more board partitions of the first board may include a main board partition and one or more spare board partitions, and when the main board partition fails, the one or more spare board partitions may take over the work of the main board partition.

In an exemplary illustration, the calculated forces may be the same or different for each board section in the first board. For example, the computing power (i.e., computing control capability, collectively referred to in this embodiment as computing power) of the primary board section of the first board may be greater than the computing power of the spare board section of the first board.

Similarly, since each backplane partition of the first backplane has the capability of operating independently, when a backplane partition in the first backplane fails, other backplane partitions in the first backplane can take over the operation of the failed backplane partition. For example, the one or more backplane partitions of the first backplane include a primary backplane partition and a backup backplane partition, and when the primary backplane partition fails, the backup backplane partition may take over the work of the primary backplane partition.

Suppose the first backplane is connected to the first card. The direct connection relationship between the board partition of the first board and the backplane partition of the first backplane may be any one of the following three connection manners, which are described below by taking an example that the first board includes 4 board partitions and the first backplane includes 4 backplane partitions.

In a first connection manner, as shown in fig. 8, one board partition of the first board is connected to one backplane partition of the first backplane, that is, the board partitions of the first board are connected to the backplane partitions of the first backplane one by one.

In the second connection manner, as shown in fig. 9, each board partition of the first board is connected to two or more backplane partitions of the first backplane (i.e. a part of the backplane partitions of the first backplane).

In the third connection mode, as shown in fig. 10, each board partition of the first board is connected to all backplane partitions of the first backplane.

It should be understood that fig. 8 to 9 are only exemplary illustrations, and the number of backplane partitions, the number of board partitions, and the connection relationship between the backplane partitions and the board partitions are not particularly limited.

The three connection modes can ensure that the computing function and the communication function of other plug-in board partitions and the communication function of the back board partition are not influenced when any one plug-in board partition fails. The failure of any one backboard partition does not affect the communication function of other backboard partitions and the calculation function of the plug board partition. For example, in the connection manner shown in fig. 8, if an interposer partition 1 or a backplane partition 1 fails, the first interposer may implement the logic function implemented by the interposer partition 2, and the backplane partition 2 may exchange data with other interposers and other devices. For another example, in the connection mode shown in fig. 9, if the board partition 2 fails, the board partition 1 may implement the logic function implemented by the first board, and the backplane partition 2 may exchange data with other boards and other devices. Or, if the backplane partition 1 fails, the logical function implemented by the first board may still be implemented by the board partition 1, and the backplane partition 2 may exchange data with other boards and other devices. For another example, in the connection manner shown in fig. 10, if the board partition 1 fails, the board partition 2 may implement the logic function implemented by the first board, and may exchange data with other boards and other devices through the backplane partition 1. Or, if the backplane partition 1 fails, the logical function implemented by the first board may still be implemented by the board partition 1, and may exchange data with other boards and other devices through the backplane partition 2.

The communication backup between the plug board and the back board can be realized through the method. Moreover, if the first connection mode shown in fig. 8 is adopted for the board partition of the first board and the backplane partition of the first backplane, the complexity of connection between the backplane and the board can be effectively reduced while the communication backup between the board and the backplane is realized.

In one exemplary illustration, the first backplane may comprise at least one interface partition, each interface partition comprising at least one external interface. The interface partition may be connected to the backplane partition, and specifically, a connection manner between the interface partition and the backplane partition may specifically refer to a connection manner between the plugboard partition and the backplane partition, which is not described herein repeatedly.

The interface partitions involved in the embodiments of the present application: the external interfaces are positioned on the back plate and connected with other vehicle-mounted control devices, and the external interfaces are positioned on the back plate or the plug plate and connected with other sensors and actuators. The external interface partition is provided with an independent physical interface.

Wherein each interface partition may be connected to multiple backplane partitions or 1 backplane partition on the backplane.

Further, the interface partition is connected with the backplane partition of the backplane, which may refer to: the interface partition may have a connection relationship with external interface pins within slots of the backplane partition.

The communication backup between the external interface and the backboard can be realized by the method.

As a possible implementation, the sensors or actuators in other devices may be grouped, with different groups accessing different backplane bays or card bays. For example, the other device includes at least two sensors with the same or similar detection functions, and the external interfaces corresponding to the at least two sensors with the same or similar detection functions may be respectively located in different interface partitions, so that the at least two sensors with the same or similar detection functions can be connected to different backplane partitions or board partitions. For another example, the other device includes at least two actuators with the same or similar execution functions, and the external interfaces corresponding to the at least two actuators with the same or similar execution functions may be respectively located in different interface partitions, so that the at least two actuators with the same or similar execution functions may access different backplane partitions or board partitions.

For example, sensors with the same or similar detection function may refer to sensors with the same detection range. For example, in the vehicle right front/left front area, a plurality of AD/ADAS sensors have the same or similar detection ranges. Therefore, the front right/front left area of the vehicle and the plurality of AD/ADAS sensors can be respectively connected to different back board partitions or board inserting partitions.

Alternatively, the sensors having the same or similar detection functions may also be referred to as sensors having the same detection distances.

Alternatively, sensors having the same or similar detection function may be the same type of sensor. For example, the plurality of cameras are sensors of the same sensor type, the plurality of millimeter wave radars are sensors of the same sensor type, the plurality of laser radars are sensors of the same sensor type, the plurality of ultrasonic radars are sensors of the same sensor type, and so on. The sensors can be respectively connected to different backplane partition interfaces or plugboard partition interfaces.

Alternatively, sensors with the same or similar detection function may also be referred to as sensors with the same application scenario. For example, a sensor capable of parking at the side may be regarded as a sensor having the same or similar detection function, and a sensor capable of parking at the side at night may be regarded as a sensor having the same or similar detection function.

Alternatively, the sensors having the same or similar detection functions may also refer to sensors having the same or similar detection functions. For example, there are 2 or more GPS as positioning input or clock (Grand Master) on the vehicle, and the 2 or more GPS may be sensors with the same or similar detection function, so that the 2 or more GPS can be respectively connected to different backplane partitions or board partitions.

Actuators that perform the same or similar functions may refer to actuators that perform the same or similar actions.

By the method, when one backboard partition or plug board partition fails, other backboard partitions or plug board partitions can be detected by the sensors with the same or similar functions, or corresponding actions are executed by the actuators with the same or similar functions, so that the vehicle can still have certain detection sensing capability or certain control capability when one backboard partition or plug board partition fails, the situation that the actuators cannot be controlled by the controller completely due to the failure of one backboard partition or plug board partition is avoided, and emergency measures can be taken to stop at the side safely, or the situation that a person with an automatic driving level takes over driving is reduced.

In a particular implementation, the first backplane may not be partitioned, but the first backplane may include one or more routing subsystems that may have the capability to operate independently. Wherein each routing subsystem of the first backplane can be connected to one interface partition of the first backplane. In this embodiment, one or more routing subsystems of the first backplane may correspond to one power supply unit, i.e., one or more routing subsystems of the first backplane may be connected to a set of power pins. This way some components can be saved and thus costs can be reduced.

In some embodiments, the vehicle-mounted control device designed in the embodiments of the present application may include at least two boards having the same logic function, for example, both boards may implement an automatic driving function, and a redundant backup or an expansion of computing power between boards may be formed.

For example, at least two second boards may be included in the onboard control device (i.e., at least one or more boards), and each of the at least two second boards is capable of implementing a first logic function, which may be part or all of the logic functions of the onboard control device. Wherein, the first logic function can be realized by a second plug board.

Furthermore, if one of the second plug-in boards fails, the logic function realized by the partition of the second plug-in board is executed by one or more second plug-in boards in other second plug-in boards.

For example, the at least two second boards may include a main board and a standby board, and if the main board fails, the standby board may take over the operation of the main board to implement the first logic function. The computing power of the main board and the standby board can be different, for example, the computing power of the main board can be larger than that of the standby board.

For example, the onboard control apparatus (i.e. at least one or more of the cards) may include at least two third cards, wherein the at least two third cards may cooperate with each other to implement a second logic function, and the second logic function is a part or all of the logic function.

Furthermore, if one of the third boards fails, the logic function realized by the partition of the third board is executed by one or more third boards in other third boards.

The vehicle-mounted control device provided by the embodiment of the application is convenient for adding or reducing the back plates and the inserting plates, the number of the back plates and the inserting plates in the vehicle-mounted control device can be adjusted according to actual requirements, and the calculation capacity (namely calculation control capacity) of the vehicle-mounted control device can be controlled by controlling the number of the back plates and the inserting plates, so that the vehicle-mounted control device can conveniently upgrade hardware, adapt to different vehicle types or different configurations of the same vehicle type, and meet the requirements of afterloading.

In addition, the embodiment of the application partitions the inserting plate, the back plate and the external interface on the back plate to realize the backup of the calculation force in the plate or the expansion of the calculation force. By inserting 2 or more plugboards with the same logic function on the back board, for example, the plugboards all complete the automatic driving function, the computing power backup or computing power expansion between the two plugboards can be formed. The embodiment of the application provides redundancy of calculation and communication capabilities from the architecture and system design level, so that the functional safety of the automobile, particularly the automatic driving automobile, can be ensured under the condition that the controller part fails. In addition, the vehicle-mounted control device designed by the embodiment of the application can change external transmission of a distributed architecture into internal transmission, so that the technical implementation difficulty of redundancy backup can be reduced, and the cost can be reduced.

The application also provides an in-vehicle communication system. The system comprises: at least two onboard control devices as shown in any one of fig. 2 to 10. Wherein, at least two on-vehicle controlling means all can realize the third logic function.

The vehicle-mounted control device can be used for undertaking calculation and control of a certain function, can be independent or integrated with a gateway, and specifically can be a vehicle-mounted calculation platform or a vehicle-mounted computer, a domain controller, a multi-domain controller, such as an automatic driving controller, an infotainment controller and the like. By way of example, the logic functions of the in-vehicle control device may include, but are not limited to, autonomous driving, support, infotainment, vehicle control, path planning, motion prediction, path prediction, sensory positioning, and the like.

The in-vehicle communication system may be deployed in a vehicle. As a possible implementation, the onboard control device in the in-vehicle communication system may be disposed on the chassis of the vehicle, constituting an onboard communication chassis. External protection of the onboard control device may be enhanced by deploying the onboard control device on the chassis of the vehicle.

In a specific implementation, the third logic function may be part or all of the logic function of the in-vehicle control apparatus. If the third logic function is part of the logic function of the in-vehicle control device, the at least two in-vehicle control devices may further comprise other logic functions. Further, other logic functions included in the at least two onboard control devices may or may not be identical.

In addition, other in-vehicle control devices may be included in the in-vehicle communication system, and the other in-vehicle control devices may implement other logic functions than the third logic function.

In one implementation, the third logical function may be implemented by one of the at least two onboard control devices.

In another implementation manner, the third logic function may also be implemented by two or more onboard control devices of the at least two onboard control devices in cooperation with each other.

Further, if one of the at least two onboard control devices fails, the third logic function may be implemented by one or more of the other of the at least two onboard control devices.

For example, the calculated forces of the at least two onboard control devices may be the same or may differ. For example, the at least two onboard control devices may include a main onboard control device and one or more standby onboard control devices, wherein the computational control capacity (collectively referred to as computational power in the embodiments of the present application) of the main onboard control device may be greater than the computational power of the standby onboard control devices.

In some embodiments, the back boards of the at least two onboard control devices may not be partitioned, and the main onboard control device and the standby onboard control device may be connected through 1 link or 2 links. The complexity of the backplane routing can be reduced by this method.

In some embodiments, at least two onboard control devices each include one or more first interfaces for enabling data exchange between the at least two onboard control devices.

For example, a connection relationship between the on-vehicle control devices of the at least two on-vehicle control devices will be described by taking a first on-vehicle control device and a second on-vehicle control device of the at least two on-vehicle control devices as an example. In specific implementation, the connection manner between the first vehicle-mounted control device and the second vehicle-mounted control device may specifically refer to the connection manner between the backplane partition of the first backplane and the board partition of the first board plug shown in fig. 8 to 9, and details are not repeated here.

In order to better understand the connection manner between the first onboard control device and the second onboard control device, the following description will take as an example that the first onboard control device includes 2 first interfaces, i.e., interface 1-1 and interface 1-2, respectively, and the second onboard control device includes 2 first interfaces, i.e., interface 2-1 and interface 2-2, respectively.

In one implementation, as shown in fig. 11, the first onboard control device is connected to the second onboard control device by the interface 1-1 connecting the interface 2-1, and the interface 1-2 is connected to the interface 2-2. If the connection between the interface 1-1 and the interface 2-1 fails, the first vehicle-mounted control device and the second vehicle-mounted control device exchange data through the interface interconnection between the interface 1-2 and the interface 2-2.

Alternatively, as shown in fig. 12, the first onboard control device and the second onboard control device are connected by connecting the interface 1-1 to the interface 2-2, and the interface 1-2 is connected to the interface 2-1. If the connection between the interface 1-1 and the interface 2-2 fails, the first vehicle-mounted control device and the second vehicle-mounted control device exchange data through the interface interconnection between the interface 1-2 and the interface 2-1.

In another implementation, as shown in fig. 13, the first onboard control device and the second onboard control device are connected with the interface 2-1/2-2 through the interface 1-1, respectively, and the interface 2-1 is connected with the interface 1-1/1-2, respectively.

It should be understood that fig. 11 to 13 are only exemplary illustrations and do not specifically limit the number of first interfaces of the in-vehicle control apparatus. If the vehicle-mounted control device includes more interfaces, the connection mode may refer to fig. 11 to 13, and repeated descriptions are omitted.

Further, the interface 1-1 and the interface 1-2 of the first onboard control device may be located in two interface partitions, respectively, and if the backplane of the first onboard control device includes one or more backplane partitions, the one or more backplane partitions may be connected in a manner similar to any one of the connection manners shown in fig. 8 to 10. If the board of the first onboard control device includes one or more board sections, the one or more board sections may be connected by any of the connection methods shown in fig. 8-10.

Similarly, the interface 2-1 and the interface 2-2 of the second onboard control device may be located in two interface partitions, respectively, and if the backplane of the second onboard control device includes one or more backplane partitions, the one or more backplane partitions may be connected in a manner similar to any of the connections shown in fig. 8-10. If the board of the second onboard control device includes one or more board partitions, the one or more board partitions may be connected by any of the connections shown in fig. 8-10.

In the above manner, the two backplane partitions are respectively connected with the two interface partitions, and the two backplane partitions are also interconnected with each plug board partition, so that even if a certain backplane partition or a certain plug board partition or a certain interface partition of a certain vehicle-mounted control device fails, the in-vehicle communication system can still perform communication and calculation functions normally.

In addition, through the connection manner shown in fig. 13, when any one communication line fails, other lines are connected, and the situation that the load pressure of the routing system of a certain partition is too large because data needs to be forwarded by the routing system of the partition is avoided.

The in-vehicle communication system designed in the embodiment of the present application may further include other devices, where the other devices include at least one sensor (e.g., millimeter wave radar, laser radar, ultrasonic radar, camera, positioning system such as GPS, inertial sensor such as IMU, speed sensor, acceleration sensor, humidity sensor, light intensity sensor, and the like, sensor information transmitted by T-Box, and the like) and/or at least one actuator (i.e., an electronic control unit of an execution device, such as a servo motor electronic control unit, an electronic control unit of a hydraulic device, or a dedicated system ECU, and a dedicated system such as ABS, ESP, and the like), and the other devices may further include a gateway (i.e., a location gateway, which is referred to as a gateway in the following, and is used for assuming a routing exchange function, is a switch or a router, and may be independent, or may be integrated with an in-vehicle-mounted control device), and the like, this is not further enumerated here.

Wherein the other device may be associated with a third logical function. The other equipment is connected with at least two vehicle-mounted control devices.

Actuators that perform the same or similar functions may refer to actuators that perform the same or similar actions. Specifically, the other devices may be respectively connected to the at least two vehicle-mounted control apparatuses through a plurality of physical connection lines. For example, as shown in fig. 14, the sensor, the actuator, and the gateway may respectively connect the two vehicle-mounted control devices by using two physical connection lines, and transmit the same information to the two vehicle-mounted control devices, so that when one of the two vehicle-mounted control devices fails, the other vehicle-mounted control device can ensure that the system operates normally. Or, the two physical connections transmit different information (for example, the camera may generate 2 kinds of data, one is original image data (Raw data), the other is an Object identification Object (Object) made based on the Raw data, the Object data amount is much smaller than that of the Raw data.

Alternatively, the other devices may be connected to at least two onboard control apparatuses via a bus. For example, as shown in fig. 15, the sensor, the actuator, and the gateway may be connected to the two vehicle-mounted control devices by using an automobile bus technology (such as CAN and LIN), and when one of the two pieces of information fails, the other piece of information may ensure that the system operates normally. The bus lines are indicated by thick lines in fig. 15, and may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in FIG. 15, but this is not intended to represent only one bus or type of bus.

In the embodiment of the application, the vehicle-mounted control device included in the vehicle-mounted communication system can be deployed on a chassis of a vehicle, so that external protection of the vehicle-mounted control device can be enhanced, and the vehicle-mounted communication chassis is formed.

For better understanding of the embodiments of the present application, the following description will be made with reference to a specific scenario, taking an example in which an in-vehicle communication system includes 2 in-vehicle control devices. The calculation power of the 2 in-vehicle control devices may be different from each other, and the calculation power of the in-vehicle control device 1 may be larger than that of the in-vehicle control device 2.

As shown in fig. 16, both the vehicle-mounted control device 1 and the vehicle-mounted control device 2 adopt the methods shown in fig. 7 to 10, that is, the external interfaces are respectively located in two interface partitions, the backplane includes two backplane partitions, and the board includes two board partitions, and the two interface partitions, the two backplane partitions, and the two board partitions are connected to each other. Thus, a control-device-level computing power backup or computing power expansion can be formed between the in-vehicle control device 1 and the in-vehicle control device 2.

The vehicle-mounted control device 1 comprises 3 plugboards, wherein the plugboard 1-1 can realize an automatic driving main function, the plugboard 1-2 can realize an information entertainment function, the plugboard 1-3 can realize a whole vehicle control auxiliary function, and the plugboard 1-3 also has two paths of vehicle control information output by two plugboard partitions of the plugboard 1-1 and one path of vehicle control information output by the plugboard 2-1, and selects one path of vehicle control information to the whole vehicle control auxiliary function, namely the plugboard 1-3 selects one path of vehicle control information in the two plugboard partitions of the plugboard 1-1 and the one path of vehicle control information output by the plugboard 2-1 to realize the whole vehicle control auxiliary function. The vehicle-mounted control device 2 comprises two plugboards, wherein the plugboard 2-1 can realize an automatic driving auxiliary function, the plugboard 2-2 can realize a main control function of the whole vehicle, and the plugboard 2-2 is also provided with two paths of vehicle control information output by two plugboard partitions of the plugboard 2-1 and one path of vehicle control information output by the plugboard 1-1, and selects and sends one path of vehicle control information to the main control function of the whole vehicle, namely the plugboard 2-2 can select one path of vehicle control information in the two vehicle control information output by the two plugboard partitions of the plugboard 2-1 and the one path of vehicle control information output by the plugboard 1-1 to realize the main control function of the whole vehicle.

Based on the above-described in-vehicle communication system, in the event of failure of the autonomous driving main function (i.e., the card 1-1) in the in-vehicle control apparatus 1, the autonomous driving assist function (i.e., the card 2-1) in the in-vehicle control apparatus 2 initiates an emergency safe stop.

Further, the operation of the automatic driving main function (i.e. the board 1-1) in the vehicle-mounted control device 1 may require all information of Raw Data, Object and the like of all sensors to perform perception fusion planning control. The automatic driving assistance function (i.e., the card 2-1) in the in-vehicle control apparatus 2 may perform the emergency safe parking with only a part of the information, for example, only the Object information, and/or the information of a part of the sensors.

The embodiment of the application also provides an in-vehicle communication system based on the vehicle-mounted control device shown in the figures 2-10. Any two vehicle-mounted control devices can be connected through interfaces on respective back plates. The interconnection between any two vehicle-mounted control devices can be realized through interconnection of a plurality of lines or interface subarea interconnection, so that interconnection backup between the two vehicle-mounted control devices is formed. This backup method can be implemented even when 2 onboard control devices are networked.

In addition, 1 of the in-vehicle communication systems may be used as a main on-vehicle control device, and the others may be used as auxiliary on-vehicle control devices. Controller-level calculation redundancy backup or calculation expansion can be formed between the main vehicle-mounted control device and the auxiliary vehicle-mounted control device, and the embodiment of the application can save the installation space and reduce the comprehensive cost under the condition in the vehicle more easily.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims

1. An in-vehicle control apparatus characterized by comprising: at least one backplane, and at least one interposer, wherein each backplane connects to one or more of the at least one interposer, the at least one backplane comprising a first backplane;

the first backboard is used for realizing data exchange between the at least one plug board and other equipment, and the other equipment is a device except the vehicle-mounted control device;

and the at least one plug board is used for realizing the logic function of the vehicle-mounted control device.

2. The apparatus of claim 1, wherein the at least one board includes a first board, the first board including one or more board sections, wherein the one or more board sections are independent of each other; and/or

The first backplane comprises one or more backplane partitions, wherein the one or more backplane partitions are independent of each other.

3. The apparatus of claim 2, wherein the logical functions implemented by the first card are implemented by a single card partition of the first card; or

The logic function realized by the first plug board is realized by the mutual cooperation of two or more plug board partitions of the first plug board.

4. The apparatus of claim 3, wherein if a first board partition of the first board fails, the logical function implemented by the first board partition is implemented by a second board partition of the first board.

5. The apparatus of any of claims 2 to 4, wherein each board section of the first board connects to at least one backplane section of the first backplane;

and/or

Each backboard partition of the first backboard is connected with at least one board partition of the first board.

6. The apparatus of any of claims 2 to 4, wherein the board sections of the first board are connected one-to-one to the backplane sections of the first backplane.

7. The apparatus of claim 5 or 6, wherein the at least one backplane partition of the first backplane respectively comprises a routing subsystem;

each routing subsystem is used for realizing data exchange between the plug board partitions connected with the back board partition where the routing subsystem is located and other equipment.

8. The apparatus of any of claims 2 to 7, wherein the first backplane comprises at least one external interface;

the external interface is used for realizing data exchange between the first backboard and the other equipment.

9. The apparatus of claim 8, wherein the first backplane comprises at least one interface partition, each interface partition comprising one or more of the at least one external interfaces, wherein each interface partition connects to at least one backplane partition of the first backplane, and/or wherein each interface partition of the first backplane connects to at least one backplane partition of the first backplane.

10. The apparatus of claim 9, wherein the other device comprises at least two sensors with the same or similar detection functions, wherein the external interfaces of the at least two sensors with the same or similar detection functions are respectively located in different interface partitions;

and/or

The other device comprises at least two executors with the same or similar execution functions, wherein the external interfaces corresponding to the executors with the same or similar execution functions are respectively positioned in different interface partitions.

11. The apparatus of claim 10, wherein the sensors with the same or similar detection function refer to sensors with the same detection range; or

The sensors with the same or similar detection functions refer to sensors with the same detection distance; or

The sensors with the same or similar detection functions refer to sensors with the same sensor type; or

The sensors with the same or similar detection functions refer to sensors with the same application scene; or

The actuators performing the same or similar functions refer to actuators performing the same or similar actions.

12. The apparatus of any of claims 1 to 11, wherein at least two second boards are included in the at least one board, each of the at least two second boards capable of implementing a first logic function, the first logic function being part or all of the logic function.

13. The apparatus of claim 12, wherein if one of the second cards fails, the logical function performed by the partition of the second card is performed by one or more of the other second cards.

14. The apparatus of any of claims 1 to 13, wherein at least two third boards are included in the at least one board, the at least two third boards cooperating with each other to implement a second logic function, the second logic function being part or all of the logic function.

15. The device of any one of claims 1 to 14, wherein the device is deployed on the chassis of a vehicle.

16. An in-vehicle communication system, comprising:

at least two on-board control devices according to any one of claims 1 to 15;

wherein the at least two onboard control devices are each capable of implementing a third logic function.

17. The system of claim 16, wherein said third logical function is implemented by one of said onboard control devices; or,

the third logic function is realized by the mutual cooperation of two or more vehicle-mounted control devices in the at least two vehicle-mounted control devices.

18. The system of claim 17, wherein the third logical function is implemented by one or more of the other of the at least two on-board control devices if one of the at least two on-board control devices fails.

19. A system according to any of claims 16 to 18, wherein the system further comprises further devices associated with the third logical function, the further devices comprising at least one sensor and/or at least one actuator;

wherein the other is connected with the at least two vehicle-mounted control devices.

20. The system of claim 19, wherein said other devices are connected to said at least two onboard control devices, respectively, by a plurality of connection lines; or

And the other equipment is connected with the at least two vehicle-mounted control devices through a bus.

21. The system of any one of claims 16 to 20, wherein each of the at least two onboard control devices includes one or more first interfaces for enabling data exchange between the at least two onboard control devices.

22. The system of claim 21, wherein the at least two onboard control devices comprise a first onboard control device and a second onboard control device, wherein each first interface of the first onboard control device is connected to at least one first interface of the second onboard control device and/or each first interface of the second onboard control device is connected to at least one first interface of the first onboard control device.

23. The system of claim 22, wherein the first interface of the first onboard control device is one-to-one connected to the first interface of the second onboard control device.

24. The system of any one of claims 16 to 23, wherein the at least two onboard control devices are deployed on a chassis of the vehicle.

25. The system of any of claims 16 to 24, wherein the at least two onboard control devices comprise a primary onboard control device and a backup onboard control device, wherein the computational control capability of the primary onboard control device is greater than the computational control capability of the backup onboard control device or the computational control capability of the primary onboard control device is consistent with the computational control capability of the backup onboard control device.