CN113212333B - Domain controller and vehicle - Google Patents
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- CN113212333B CN113212333B CN202110432237.7A CN202110432237A CN113212333B CN 113212333 B CN113212333 B CN 113212333B CN 202110432237 A CN202110432237 A CN 202110432237A CN 113212333 B CN113212333 B CN 113212333B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
Abstract
The invention discloses a domain controller and a vehicle. The domain controller: a decision unit distributes an operation task; the extensible standardized calculation unit responds to each operation task, acquires a vehicle-mounted sensor signal, generates a control signal based on the vehicle-mounted sensor signal and outputs the control signal; the cloud computing unit responds to each operation task, acquires a vehicle-mounted sensor signal, and acquires and outputs a control signal based on the vehicle-mounted sensor signal; the storage unit stores the control signals output by the extensible standardized computing unit and the cloud computing unit; the arbitration unit judges whether the vehicle-mounted sensor signal corresponding to each control signal output by the extensible standardized computing unit and the cloud computing unit is normal or not, if yes, the control signal is output, and if not, the last period of control signal corresponding to the control signal is called from the storage unit and output. The vehicle includes the domain controller. According to the invention, the problems that the existing domain controller has no expandability and often insufficient computational performance can be solved.
Description
Technical Field
The invention belongs to the field of vehicle control, and particularly relates to a domain controller and a vehicle.
Background
In recent years, with the increasing degree of electronization of vehicles, electronic Control Units (ECUs) have almost occupied the entire automobiles, and have been gradually extended from anti-lock brake systems, four-wheel drive systems, electronically controlled automatic transmissions, active suspension systems, and airbag systems to body safety systems, network systems, entertainment systems, sensor control systems, and the like. At present, the number of ECUs of automobiles in each level is increased year by year, the number of ECUs of the existing automobiles is about 25 on average, and the number of ECUs of some high-end automobile models is hundreds. However, more and more ECUs not only increase the difficulty of the design of the vehicle body structure, but also result in more and more mass of the entire vehicle. For this reason, as the domain controller comes, the domain controller can integrate functions of a plurality of the same domain controllers, thereby greatly reducing the number of ECUs for vehicles. However, the existing domain controller is mainly developed in a customized manner according to project requirements, and has a single use scene and no expandability. In addition, because the existing domain controller integrates the functions of a plurality of controllers, the requirement on the computing performance of the domain controller is high, and the problem that the computing performance of the domain controller cannot cope with the distributed computing task is easy to occur.
Disclosure of Invention
The invention aims to solve the problems that the existing domain controller has no expandability and often insufficient computational performance.
In order to achieve the above object, the present invention provides a domain controller and a vehicle.
According to a first aspect of the present invention, there is provided a domain controller, the domain controller comprising a decision unit, an extensible standardized computing unit, a cloud computing unit, a storage unit, and an arbitration unit;
the decision unit is used for distributing the operation tasks;
the extensible standardization computing unit is used for responding to each distributed operation task, acquiring a corresponding vehicle-mounted sensor signal, generating a corresponding control signal based on the acquired vehicle-mounted sensor signal and outputting the control signal;
the cloud computing unit is used for responding to each distributed operation task, acquiring a corresponding vehicle-mounted sensor signal, and acquiring and outputting a corresponding control signal based on the acquired vehicle-mounted sensor signal;
the storage unit is used for storing the control signal output by the extensible standardized computing unit and the control signal output by the cloud computing unit;
the arbitration unit is used for receiving the control signals output by the extensible standardized computing unit and the control signals output by the cloud computing unit, judging whether the vehicle-mounted sensor signals corresponding to each received control signal are normal or not, if so, outputting the control signals to the corresponding vehicle execution unit, and if not, retrieving the control signals corresponding to the control signals in the last period from the storage unit and outputting the control signals to the corresponding vehicle execution unit.
Preferably, the domain controller further includes an RTE unit and a standardized I/O driving unit;
the cloud computing unit is connected to a CAN bus of a vehicle sequentially through the extensible standardized computing unit, the RTE unit and the standardized I/O driving unit;
the arbitration unit is in communication connection with the standardized I/O driving unit through the RTE unit.
Preferably, the domain controller further includes an OTA unit and a software installation unit;
the OTA unit is used for receiving a software installation package;
the software installation unit is used for realizing software installation of the domain controller based on the software installation package, and the software installation comprises brand new installation and upgrade installation.
Preferably, the domain controller further comprises a thermal management unit and a functional safety monitoring unit;
the thermal management unit is used for performing thermal management on the domain controller;
and the function safety monitoring unit is used for carrying out function safety monitoring on the domain controller.
Preferably, the domain controller further includes a power supply unit;
the power supply unit is used for supplying power to each power utilization unit of the domain controller.
Preferably, the scalable normalization calculation unit includes a plurality of normalization calculation modules, a signal input module, and a signal output module;
the standardized computation module comprises a standardized computation submodule and a daisy chain communication submodule, and the standardized computation submodule is communicated with the outside through the daisy chain communication submodule;
the plurality of daisy chain communication sub-modules of the plurality of standardized calculation modules are connected in series to form a channel, and the two daisy chain communication sub-modules positioned at the two ends of the channel are respectively in communication connection with the signal input module and the signal output module.
Preferably, the decision unit comprises a first CPU occupancy rate monitoring module, a function requirement judging module, an available operation resource monitoring module, a first operation amount predicting module, a first operation time predicting module and an operation task distributing module;
the first CPU occupancy rate monitoring module is used for responding to an operation task to be distributed, acquiring the CPU occupancy rate of the extensible standardized calculation unit, judging whether the CPU occupancy rate is greater than a preset first CPU occupancy rate reference value, if so, outputting a first operation task distribution instruction, and if not, outputting a first trigger instruction;
the function requirement judging module is used for responding to the first trigger instruction and judging whether the function requirement of the operation task to be distributed is an intelligent network connection related function or not, if so, outputting a second operation task distribution instruction, and if not, outputting a second trigger instruction;
the available operation resource monitoring module is used for responding to the second trigger instruction and acquiring the available operation resources of the extensible standardized computing unit;
the first operand prediction module is used for responding to the second trigger instruction, predicting the operand of the operation task to be distributed, judging whether the predicted operand is larger than the available operation resource, if so, outputting a third operation task distribution instruction, and if not, outputting a third trigger instruction;
the first operation time prediction module is used for predicting the operation time of the operation task to be distributed in response to the third trigger instruction and judging whether the predicted operation time is greater than a preset first operation time reference value or not, if so, a fourth operation task distribution instruction is output, and if not, a fifth operation task distribution instruction is output;
the operation task allocation module is used for responding to the first operation task allocation instruction, the second operation task allocation instruction, the third operation task allocation instruction or the fourth operation task allocation instruction to allocate the operation tasks to be allocated to the cloud computing unit, and responding to the fifth operation task allocation instruction to allocate the operation tasks to be allocated to the extensible standardized computing unit.
Preferably, the thermal management unit includes a temperature monitoring module, a second CPU occupancy monitoring module, a second operand prediction module, a second operation time prediction module, and a heat dissipation module;
the temperature monitoring module is used for acquiring the internal temperature of the domain controller and judging whether the internal temperature is higher than a preset temperature reference value or not, if so, outputting a first heat dissipation starting instruction, and if not, outputting a fourth triggering instruction;
the second CPU occupancy rate monitoring module is used for responding to the fourth trigger instruction, acquiring the CPU occupancy rate of the expandable standardized computing unit, judging whether the CPU occupancy rate is greater than a preset second CPU occupancy rate reference value, if so, outputting a second heat dissipation starting instruction, and if not, outputting a fifth trigger instruction;
the second operand prediction module is used for responding to the fifth trigger instruction, predicting the operand of the operation task to be distributed, judging whether the predicted operand is larger than a preset operand reference value or not, if so, outputting a third heat dissipation starting instruction, and if not, outputting a sixth trigger instruction;
the second operation time prediction module is used for responding to the sixth trigger instruction, predicting the operation time of the operation task to be distributed, judging whether the predicted operation time is larger than a preset second operation time reference value or not, if so, outputting a fourth heat dissipation starting instruction, and if not, outputting a heat dissipation closing instruction;
the heat dissipation module is used for responding to the first heat dissipation opening instruction, the second heat dissipation opening instruction, the third heat dissipation opening instruction or the fourth heat dissipation opening instruction to dissipate heat inside the domain controller, and responding to the heat dissipation closing instruction to be in a non-working state.
Preferably, the functional safety monitoring unit comprises a functional safety cache module, a virtual computing module, a comparison module, a functional safety arbitration module and an arbitration result output module;
the functional security cache module is used for storing a target control signal output by the extensible standardized computing unit and a target control signal output by the cloud computing unit, wherein the target control signal is a preset control signal with a functional security level;
the virtual calculation module is used for calculating the vehicle-mounted sensor signal corresponding to each target control signal to obtain a reference control signal;
the comparison module is used for judging whether each target control signal is consistent with the corresponding reference control signal;
the functional safety arbitration module is used for outputting the target control signal when each target control signal is consistent with the corresponding reference control signal, calling a previous period target control signal corresponding to the target control signal from the functional safety cache module when each target control signal is inconsistent with the corresponding reference control signal, acquiring an average value of the target control signal, the reference control signal and the previous period target control signal, acquiring an average value of two signals which are closest to the average value in the target control signal, the reference control signal and the previous period target control signal, and outputting the average value as the control signal;
the arbitration result output module is used for outputting the signal output by the function safety arbitration module to the storage unit and the arbitration unit.
According to a second aspect of the present invention there is provided a vehicle comprising any of the domain controllers described above.
The invention has the beneficial effects that:
the domain controller executes the operation task through the extensible standardized computing unit and the cloud computing unit. The extensible standardized computing unit has the extensible characteristic, so that the problem that the existing domain controller does not have the extensibility can be effectively solved. Meanwhile, the extensible standardized computing unit has the standardized characteristic, so that the domain controller is easy to expand. On the other hand, the cloud computing unit can effectively share the operation task of the extensible standardized computing unit, obviously improve the computing performance of the domain controller, and further solve the problem that the computing performance of the existing domain controller is often insufficient.
The vehicle of the present invention and the domain controller belong to a general inventive concept, and therefore have the same beneficial effects as the domain controller, and are not described in detail herein.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts throughout.
FIG. 1 illustrates a functional block diagram of a domain controller according to an embodiment of the present invention;
FIG. 2 illustrates a functional block diagram of an extensible standardized computation unit according to an embodiment of the present invention;
FIG. 3 shows a functional block diagram of a decision unit according to an embodiment of the invention;
FIG. 4 shows a schematic workflow diagram of a decision unit according to an embodiment of the invention;
FIG. 5 shows a functional block diagram of a thermal management unit according to an embodiment of the invention;
FIG. 6 shows a schematic workflow diagram of a thermal management unit according to an embodiment of the invention;
fig. 7 shows a functional safety monitoring unit according to an embodiment of the invention.
Detailed Description
Preferred embodiments of the present invention will be described in more detail below. While the following describes preferred embodiments of the present invention, it should be understood that the present invention may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The embodiment is as follows: fig. 1 shows a schematic block diagram of a domain controller of an embodiment of the present invention. Referring to fig. 1, a domain controller according to an embodiment of the present invention includes a decision unit, an extensible standardized computing unit, a cloud computing unit, a storage unit, and an arbitration unit;
the decision unit is used for distributing the operation tasks;
the extensible standardization computing unit is used for responding to each distributed operation task, acquiring a corresponding vehicle-mounted sensor signal, generating a corresponding control signal based on the acquired vehicle-mounted sensor signal and outputting the control signal;
the cloud computing unit is used for responding to each distributed operation task, acquiring a corresponding vehicle-mounted sensor signal, and acquiring and outputting a corresponding control signal based on the acquired vehicle-mounted sensor signal;
the storage unit is used for storing the control signal output by the extensible standardized computing unit and the control signal output by the cloud computing unit;
the arbitration unit is used for receiving the control signals output by the extensible standardized computing unit and the control signals output by the cloud computing unit, judging whether the vehicle-mounted sensor signals corresponding to each received control signal are normal or not, if so, outputting the control signals to the corresponding vehicle execution unit, and if not, retrieving the control signals corresponding to the control signals in the previous period from the storage unit and outputting the control signals to the corresponding vehicle execution unit.
In the embodiment of the invention, the cloud computing unit uploads the acquired vehicle-mounted sensor signal to the cloud server, and the cloud server generates a corresponding control signal based on the vehicle-mounted sensor signal and feeds the control signal back to the cloud computing unit.
Further, the domain controller of the embodiment of the present invention further includes an RTE unit and a standardized I/O driving unit;
the cloud computing unit is connected to a CAN bus of the vehicle sequentially through the extensible standardized computing unit, the RTE unit and the standardized I/O driving unit;
the arbitration unit is in communication connection with the standardized I/O driving unit through the RTE unit.
In the embodiment of the invention, the RTE unit and the standardized I/O driving unit perform signal interaction, and the standardized I/O driving unit receives the vehicle-mounted sensor signal in real time and sends the control signal to the corresponding vehicle execution unit through the CAN bus.
In the embodiment of the present invention, an RTE (Run-Time Environment) is the core of the AUTOSAR architecture. The RTE, which is interposed between the application and base software layers in the AUTOSAR software architecture, is an implementation of the AUTOSAR Virtual Function Bus (VFB) interface, generated specific to each ECU, to provide infrastructure services for communication between the application software components and to facilitate access to the base software components, including the OS.
In the embodiment of the invention, the operation tasks distributed to the cloud computing unit by the decision unit are issued to the cloud computing unit by the extensible standardized computing unit. The vehicle-mounted sensor signals to be acquired by the cloud computing unit are transmitted to the cloud computing unit sequentially through the standardized I/O driving unit, the RTE unit and the extensible standardized computing unit.
Still further, the domain controller of the embodiment of the present invention further includes an OTA unit and a software installation unit;
the OTA unit is used for receiving a software installation package;
the software installation unit is used for realizing software installation of the domain controller based on the software installation package, and the software installation comprises brand new installation and upgrade installation.
In the embodiment of the invention, the OTA unit and the software installation unit work cooperatively, and can update the domain controller with off-line software.
In The embodiment of The invention, the Over The Air (Over The Air, over The Air technology) is a technology which is based on a short message mechanism, realizes dynamic downloading, deletion and updating of a service menu in an SIM card in a mobile phone terminal or server (on line) mode, enables a user to obtain a data value added service (OTA service for short) of personalized information service, and is used for remotely managing SIM card data and application through an Air interface of mobile communication. The application of OTA technology enables mobile communications to provide not only voice and data services, but also new service downloads.
Still further, the domain controller of the embodiment of the present invention further includes a thermal management unit and a functional security monitoring unit;
the thermal management unit is used for thermally managing the domain controller;
and the function safety monitoring unit is used for carrying out function safety monitoring on the domain controller.
Still further, the domain controller of the embodiment of the present invention further includes a power supply unit;
the power supply unit is used for supplying power to each power utilization unit of the domain controller.
Still further, fig. 2 is a schematic block diagram of an extensible standardized computing unit according to an embodiment of the present invention. Referring to fig. 2, in the embodiment of the present invention, the extensible normalization calculating unit includes a plurality of normalization calculating modules, a signal input module, and a signal output module;
the standardized calculation module comprises a standardized calculation submodule and a daisy chain communication submodule, and the standardized calculation submodule is communicated with the outside through the daisy chain communication submodule;
the daisy chain communication submodules of the plurality of standardized calculation modules are connected in series to form a channel, and the two daisy chain communication submodules positioned at the two ends of the channel are respectively in communication connection with the signal input module and the signal output module.
In an embodiment of the invention, the daisy chain communication sub-modules are configured with a male connector and a female connector. Specifically, the signal output end of the signal input module is coupled with the male connector of the daisy chain communication submodule at the signal input end of the channel. In the channel, two adjacent daisy chain communication sub-modules are coupled and connected through a female connector and a male connector. And the female connector of the daisy chain communication submodule at the signal output end of the channel is coupled and connected with the signal input end of the signal output module. The extensible standardized computing unit is communicated with the outside through the signal input module and the signal output module. The standardized calculation submodule is a minimum calculation unit of the extensible standardized calculation unit.
Still further, fig. 3 is a schematic block diagram of a decision unit according to an embodiment of the present invention. Referring to fig. 3, in the embodiment of the present invention, the decision unit includes a first CPU occupancy monitoring module, a function requirement determining module, an available computation resource monitoring module, a first computation amount predicting module, a first computation time predicting module, and a computation task allocating module.
Fig. 4 is a schematic diagram of a work flow of a decision unit according to an embodiment of the present invention. Referring to fig. 4, in the embodiment of the present invention, the first CPU occupancy monitoring module is configured to, in response to an operation task to be allocated, obtain a CPU occupancy of an extensible standardized computing unit, and determine whether the CPU occupancy is greater than a predetermined first CPU occupancy reference value, if yes, output a first operation task allocation instruction, and if not, output a first trigger instruction;
the function requirement judging module is used for responding to the first trigger instruction and judging whether the function requirement of the operation task to be distributed is related to the intelligent network connection, if so, outputting a second operation task distribution instruction, and if not, outputting a second trigger instruction;
the available operation resource monitoring module is used for responding to the second trigger instruction and acquiring the available operation resources of the extensible standardized computing unit;
the first operand prediction module is used for responding to the second trigger instruction, predicting the operand of the operation task to be distributed and judging whether the predicted operand is larger than the available operation resource or not, if so, outputting a third operation task distribution instruction, and if not, outputting a third trigger instruction;
the first operation time prediction module is used for predicting the operation time of the operation task to be distributed in response to the third trigger instruction and judging whether the predicted operation time is larger than a preset first operation time reference value or not, if so, a fourth operation task distribution instruction is output, and if not, a fifth operation task distribution instruction is output;
the operation task allocation module is used for responding to a first operation task allocation instruction, a second operation task allocation instruction, a third operation task allocation instruction or a fourth operation task allocation instruction, allocating operation tasks to be allocated to the cloud computing units, and responding to a fifth operation task allocation instruction, allocating operation tasks to be allocated to the extensible standardized computing units.
Specifically, in the embodiment of the present invention, the first CPU occupancy reference value is 90%, and the first operation time reference value is 1s.
Still further, FIG. 5 is a functional block diagram of a thermal management unit according to an embodiment of the present invention. Referring to fig. 5, in the embodiment of the present invention, the thermal management unit includes a temperature monitoring module, a second CPU occupancy monitoring module, a second operand prediction module, a second operation time prediction module, and a heat dissipation module.
FIG. 6 is a schematic workflow diagram of a thermal management unit according to an embodiment of the present invention. Referring to fig. 6, in the embodiment of the present invention, the temperature monitoring module is configured to obtain an internal temperature of the domain controller, and determine whether the internal temperature is higher than a predetermined temperature reference value, if so, output a first heat dissipation starting instruction, and if not, output a fourth triggering instruction;
the second CPU occupancy rate monitoring module is used for responding to a fourth trigger instruction, acquiring the CPU occupancy rate of the expandable standardized computing unit, judging whether the CPU occupancy rate is greater than a preset second CPU occupancy rate reference value, if so, outputting a second heat dissipation starting instruction, and if not, outputting a fifth trigger instruction;
the second operand prediction module is used for responding to a fifth trigger instruction, predicting the operand of the operation task to be distributed, judging whether the predicted operand is larger than a preset operand reference value or not, if so, outputting a third heat dissipation starting instruction, and if not, outputting a sixth trigger instruction;
the second operation time prediction module is used for responding to a sixth trigger instruction, predicting the operation time of the operation task to be distributed, judging whether the predicted operation time is larger than a preset second operation time reference value or not, if so, outputting a fourth heat dissipation starting instruction, and if not, outputting a heat dissipation closing instruction;
the heat dissipation module is used for responding to a first heat dissipation opening instruction, a second heat dissipation opening instruction, a third heat dissipation opening instruction or a fourth heat dissipation opening instruction to dissipate heat inside the domain controller, and responding to a heat dissipation closing instruction to be in a non-working state.
Specifically, in the embodiment of the present invention, the temperature reference value is 80 ℃, the second CPU occupancy reference value is 80%, the operand reference value is 1GFLOPS, and the second operation time reference value is 1s. Wherein GFLOPS is the abbreviation of Giga flowing-point Operations Per Second, i.e. 10 hundred million Floating point operands Per Second.
Still further, fig. 7 shows a functional safety monitoring unit of an embodiment of the present invention in a functional block diagram. Referring to fig. 7, in the embodiment of the present invention, the functional security monitoring unit includes a functional security cache module, a virtual computing module, a comparison module, a functional security arbitration module, and an arbitration result output module;
the functional security cache module is used for storing a target control signal output by the extensible standardized computing unit and a target control signal output by the cloud computing unit, wherein the target control signal is a preset control signal with a functional security level;
the virtual calculation module is used for calculating the vehicle-mounted sensor signal corresponding to each target control signal to obtain a reference control signal;
the comparison module is used for judging whether each target control signal is consistent with the corresponding reference control signal;
the functional safety arbitration module is used for outputting the target control signal when each target control signal is consistent with the corresponding reference control signal, calling the target control signal of the previous period corresponding to the target control signal from the functional safety cache module when each target control signal is inconsistent with the corresponding reference control signal, acquiring the average value of the target control signal, the reference control signal and the target control signal of the previous period, acquiring the average value of two signals which are closest to the average value in the target control signal, the reference control signal and the target control signal of the previous period, and outputting the average value as the control signal;
the arbitration result output module is used for outputting the signal output by the function safety arbitration module to the storage unit and the arbitration unit.
In the embodiment of the invention, the functional security cache module is used for storing the control signals of the latest 20 sampling periods and performing overlay storage.
In the embodiment of the invention, the functional safety monitoring unit has ASIL D safety level.
The domain controller of the embodiment of the invention has reasonable structure and strong expandability. In practical application, the number of the standardized computing modules in the extensible standardized computing unit can be configured according to system requirements, and then the ECU functions in different scenes can be met to the greatest extent. When the system computing resources are insufficient due to an emergency, the computing performance of the domain controller can be ensured by calling the cloud computing unit to execute the computing task. The functional security architecture of the domain controller reaches the ASILD level, and the requirement of functional security can be easily met. In addition, the domain controller has a thermal management function, and temperature fluctuation in the domain controller can be reduced, so that the domain controller can maintain optimal working performance in real time.
Correspondingly, the embodiment of the invention also provides a vehicle, and the vehicle comprises the domain controller of the embodiment of the invention.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.
Claims (10)
1. The domain controller is characterized by comprising a decision unit, an extensible standardized computing unit, a cloud computing unit, a storage unit and an arbitration unit;
the decision unit is used for distributing the operation tasks;
the extensible standardization computing unit is used for responding to each distributed computing task, acquiring a corresponding vehicle-mounted sensor signal, generating a corresponding control signal based on the acquired vehicle-mounted sensor signal and outputting the control signal;
the cloud computing unit is used for responding to each distributed operation task, acquiring a corresponding vehicle-mounted sensor signal, and acquiring and outputting a corresponding control signal based on the acquired vehicle-mounted sensor signal;
the storage unit is used for storing the control signal output by the extensible standardized computing unit and the control signal output by the cloud computing unit;
the arbitration unit is used for receiving the control signals output by the extensible standardized computing unit and the control signals output by the cloud computing unit, judging whether the vehicle-mounted sensor signals corresponding to each received control signal are normal or not, if so, outputting the control signals to the corresponding vehicle execution unit, and if not, retrieving the control signals corresponding to the control signals in the last period from the storage unit and outputting the control signals to the corresponding vehicle execution unit.
2. Domain controller according to claim 1, further comprising an RTE unit and a standardized I/O drive unit;
the cloud computing unit is connected to a CAN bus of a vehicle sequentially through the extensible standardized computing unit, the RTE unit and the standardized I/O driving unit;
the arbitration unit is in communication connection with the standardized I/O driving unit through the RTE unit.
3. The domain controller of claim 1, further comprising an OTA unit and a software installation unit;
the OTA unit is used for receiving a software installation package;
the software installation unit is used for realizing software installation of the domain controller based on the software installation package, and the software installation comprises brand new installation and upgrade installation.
4. The domain controller according to claim 1, further comprising a thermal management unit and a functional security monitoring unit;
the thermal management unit is used for thermally managing the domain controller;
and the function safety monitoring unit is used for carrying out function safety monitoring on the domain controller.
5. The domain controller of claim 1, further comprising a power supply unit;
the power supply unit is used for supplying power to each power utilization unit of the domain controller.
6. The domain controller according to claim 1, wherein the scalable normalization calculation unit comprises a plurality of normalization calculation modules, a signal input module and a signal output module;
the standardized calculation module comprises a standardized calculation submodule and a daisy chain communication submodule, and the standardized calculation submodule is communicated with the outside through the daisy chain communication submodule;
the daisy chain communication submodules of the standardized calculation modules are connected in series to form a channel, and the two daisy chain communication submodules positioned at the two ends of the channel are respectively in communication connection with the signal input module and the signal output module.
7. The domain controller according to claim 1, wherein the decision unit comprises a first CPU occupancy monitoring module, a function requirement judging module, an available operation resource monitoring module, a first operation amount predicting module, a first operation time predicting module, and an operation task allocating module;
the first CPU occupancy rate monitoring module is used for responding to an operation task to be distributed, acquiring the CPU occupancy rate of the expandable standardized computing unit, judging whether the CPU occupancy rate is greater than a preset first CPU occupancy rate reference value, if so, outputting a first operation task distribution instruction, and if not, outputting a first trigger instruction;
the function requirement judging module is used for responding to the first trigger instruction and judging whether the function requirement of the operation task to be distributed is an intelligent network connection related function or not, if so, outputting a second operation task distribution instruction, and if not, outputting a second trigger instruction;
the available operation resource monitoring module is used for responding to the second trigger instruction and acquiring the available operation resources of the extensible standardized computing unit;
the first operand prediction module is used for responding to the second trigger instruction, predicting the operand of the operation task to be distributed, judging whether the predicted operand is larger than the available operation resource, if so, outputting a third operation task distribution instruction, and if not, outputting a third trigger instruction;
the first operation time prediction module is used for predicting the operation time of the operation task to be distributed in response to the third trigger instruction and judging whether the predicted operation time is greater than a preset first operation time reference value or not, if so, a fourth operation task distribution instruction is output, and if not, a fifth operation task distribution instruction is output;
the operation task allocation module is used for responding to the first operation task allocation instruction, the second operation task allocation instruction, the third operation task allocation instruction or the fourth operation task allocation instruction to allocate the operation tasks to be allocated to the cloud computing unit, and responding to the fifth operation task allocation instruction to allocate the operation tasks to be allocated to the extensible standardized computing unit.
8. The domain controller of claim 4, wherein the thermal management unit comprises a temperature monitoring module, a second CPU occupancy monitoring module, a second operand prediction module, a second operation time prediction module, and a heat dissipation module;
the temperature monitoring module is used for acquiring the internal temperature of the domain controller and judging whether the internal temperature is higher than a preset temperature reference value or not, if so, outputting a first heat dissipation starting instruction, and if not, outputting a fourth triggering instruction;
the second CPU occupancy rate monitoring module is used for responding to the fourth trigger instruction, acquiring the CPU occupancy rate of the expandable standardized computing unit, judging whether the CPU occupancy rate is greater than a preset second CPU occupancy rate reference value, if so, outputting a second heat dissipation starting instruction, and if not, outputting a fifth trigger instruction;
the second operand prediction module is used for responding to the fifth trigger instruction, predicting the operand of the operation task to be distributed and judging whether the predicted operand is greater than a preset operand reference value or not, if so, outputting a third heat dissipation starting instruction, and if not, outputting a sixth trigger instruction;
the second operation time prediction module is used for responding to the sixth trigger instruction, predicting the operation time of the operation task to be distributed, judging whether the predicted operation time is larger than a preset second operation time reference value or not, if so, outputting a fourth heat dissipation starting instruction, and if not, outputting a heat dissipation closing instruction;
the heat dissipation module is used for responding to the first heat dissipation opening instruction, the second heat dissipation opening instruction, the third heat dissipation opening instruction or the fourth heat dissipation opening instruction to dissipate heat inside the domain controller, and responding to the heat dissipation closing instruction to be in a non-working state.
9. The domain controller according to claim 4, wherein the functional security monitoring unit comprises a functional security cache module, a virtual computing module, a comparison module, a functional security arbitration module and an arbitration result output module;
the functional security cache module is used for storing a target control signal output by the extensible standardized computing unit and a target control signal output by the cloud computing unit, wherein the target control signal is a preset control signal with a functional security level;
the virtual calculation module is used for calculating the vehicle-mounted sensor signal corresponding to each target control signal to obtain a reference control signal;
the comparison module is used for judging whether each target control signal is consistent with the corresponding reference control signal;
the functional safety arbitration module is used for outputting each target control signal when the target control signal is consistent with the corresponding reference control signal, calling a previous period target control signal corresponding to the target control signal from the functional safety cache module when the target control signal is inconsistent with the corresponding reference control signal, acquiring an average value of the target control signal, the reference control signal and the previous period target control signal, acquiring an average value of two signals which are closest to the average value in the target control signal, the reference control signal and the previous period target control signal, and outputting the average value as the control signal;
the arbitration result output module is used for outputting the signal output by the function safety arbitration module to the storage unit and the arbitration unit.
10. A vehicle comprising a domain controller according to any of claims 1-9.
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