CN114460873A - Vehicle-mounted control system and unmanned vehicle - Google Patents
Vehicle-mounted control system and unmanned vehicle Download PDFInfo
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- CN114460873A CN114460873A CN202111572340.8A CN202111572340A CN114460873A CN 114460873 A CN114460873 A CN 114460873A CN 202111572340 A CN202111572340 A CN 202111572340A CN 114460873 A CN114460873 A CN 114460873A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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- G05B2219/24215—Scada supervisory control and data acquisition
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Abstract
The application discloses on-vehicle control system and unmanned vehicle. The vehicle-mounted control system comprises: a memory for storing a plurality of vehicle applications of different functions; the first processing unit is connected with the memory and used for acquiring a corresponding vehicle application program from the memory to load the vehicle application program and realizing a function corresponding to the vehicle application program; the first processing unit is realized based on logic resources of the FPGA. The occupation of logic resources of the first processing unit can be reduced, and then the first processing unit with less logic resources can be used for vehicle-mounted control, so that the cost of the first processing unit is reduced.
Description
Technical Field
The application relates to the technical field of unmanned driving, in particular to a vehicle-mounted control system and an unmanned vehicle.
Background
In the context of unmanned vehicles, the onboard control system on an unmanned vehicle typically has two processors, one as a master and the other as a slave.
The slave processor generally loads an application program after being powered on, and the loaded application program can fix the function.
The downside is that the more applications, the higher the cost of the slave processor.
Disclosure of Invention
In order to solve the above problems, the present application provides an onboard control system and an unmanned vehicle, which can reduce the occupation of logic resources of a first processing unit, and further can use the first processing unit with less logic resources to perform onboard control, thereby reducing the cost of the first processing unit.
In order to solve the technical problem, the application adopts a technical scheme that: there is provided an in-vehicle control system including: a memory for storing a plurality of vehicle applications of different functions; the first processing unit is connected with the memory and used for acquiring a corresponding vehicle application program from the memory to load the vehicle application program and realizing a function corresponding to the vehicle application program; the first processing unit is realized based on logic resources of the FPGA.
Wherein the first processing unit comprises: a logic fixing subunit for loading a first vehicle application, the first vehicle application being configured to satisfy a basic function of the in-vehicle control system; and the logic configuration subunit is connected with the logic fixing subunit and the memory and is used for acquiring a corresponding second vehicle application program from the memory to load and realizing a function corresponding to the second vehicle application program.
The logic configuration subunit is configured to, in response to the first load instruction, detect whether a second vehicle application corresponding to the first load instruction exists in the logic configuration subunit, and if not, acquire the second vehicle application corresponding to the first load instruction from the memory to load.
The logic configuration subunit is configured to, in response to the second load instruction, detect whether a second vehicle application corresponding to the second load instruction exists in the logic configuration subunit, and if not, acquire the second vehicle application corresponding to the second load instruction from the memory, replace the original second vehicle application in the logic configuration subunit with the second vehicle application corresponding to the second load instruction, and load the second vehicle application corresponding to the second load instruction.
Wherein, on-vehicle control system still includes: the second processing unit is connected with the first processing unit and the memory and used for responding to the loading instruction of the first processing unit, acquiring the corresponding vehicle application program from the memory and sending the vehicle application program to the first processing unit; the first processing unit is used for receiving and loading the vehicle application program and realizing the corresponding function of the vehicle application program.
The second processing unit is used for responding to the first loading instruction, acquiring a vehicle application program corresponding to the first loading instruction from the memory and sending the vehicle application program to the first processing unit; the first processing unit is used for receiving and loading the vehicle application program corresponding to the first loading instruction.
The second processing unit is used for responding to the second loading instruction, acquiring a vehicle application program corresponding to the second loading instruction from the memory, and sending the vehicle application program to the first processing unit; the first processing unit is used for receiving the vehicle application program corresponding to the second loading instruction and replacing the original vehicle application program with the vehicle application program.
The first processing unit is connected with the memory through a PCIE interface.
Wherein, the memory is FLASH.
In order to solve the above technical problem, another technical solution adopted by the present application is: there is provided an unmanned vehicle comprising an onboard control system as provided in the preceding claims.
The beneficial effects of the embodiment of the application are that: be different from prior art, the on-vehicle control system that this application provided, this on-vehicle control system includes: a memory for storing a plurality of vehicle applications of different functions; the first processing unit is connected with the memory and used for acquiring a corresponding vehicle application program from the memory to load the vehicle application program and realizing a function corresponding to the vehicle application program; the first processing unit is realized based on logic resources of the FPGA. By means of the dynamic loading of the vehicle application programs by the first processing unit, all the vehicle application programs are prevented from being loaded to the first processing unit, occupation of logic resources of the first processing unit can be reduced, the first processing unit with few logic resources can be used for vehicle-mounted control, and cost of the first processing unit is reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. Wherein:
FIG. 1 is a schematic structural diagram of a first embodiment of an onboard control system provided by the present application;
FIG. 2 is a schematic structural diagram of a second embodiment of an onboard control system provided by the present application;
FIG. 3 is a schematic view of an application scenario of the in-vehicle control system provided in the present application;
FIG. 4 is a schematic structural diagram of a third embodiment of an onboard control system provided by the present application;
FIG. 5 is a schematic diagram of another application scenario of the in-vehicle control system provided in the present application;
FIG. 6 is a schematic diagram of another application scenario of the in-vehicle control system provided in the present application;
FIG. 7 is a schematic structural diagram of an embodiment of an unmanned vehicle as provided herein.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a first embodiment of an onboard control system provided by the present application. The in-vehicle control system 10 includes: a memory 11 and a first processing unit 12.
The memory 11 is used for storing a plurality of vehicle applications with different functions.
Such as a vehicle application corresponding to forward movement of the vehicle, a vehicle application corresponding to reverse movement of the vehicle, a vehicle application corresponding to steering of the vehicle, and a vehicle application corresponding to climate control of the passenger compartment of the vehicle. The memory 11 may be a FLASH architecture based memory. The Memory 11 may also be other types of memories, such as a DRAM (Dynamic Random Access Memory), an MRAM (magnetic Random Access Memory), and the like.
The first processing unit 12 is connected to the memory 11, and is configured to acquire a corresponding vehicle application program from the memory 11 for loading, and implement a function corresponding to the vehicle application program; the first processing unit is realized based on logic resources of the FPGA.
The FPGA adopts a concept of a Logic Cell array lca (Logic Cell array), and includes three parts, namely, a configurable Logic module clb (configurable Logic block), an input Output module iob (input Output block), and an internal connection (Interconnect). A Field Programmable Gate Array (FPGA) is a programmable device that has a different structure than traditional logic circuits and gate arrays (such as PAL, GAL and CPLD devices). The FPGA utilizes small lookup tables (16 × 1RAM) to realize combinational logic, each lookup table is connected to the input end of a D flip-flop, and the flip-flops drive other logic circuits or drive I/O (input/output) circuits, so that basic logic unit modules capable of realizing both combinational logic functions and sequential logic functions are formed, and the modules are connected with each other or connected to an I/O (input/output) module by utilizing metal connecting wires. The logic of the FPGA is implemented by loading programming data into the internal static memory cells, the values stored in the memory cells determine the logic function of the logic cells and the way of the connections between the modules or between the modules and the I/O and finally the functions that can be implemented by the FPGA, which allows an unlimited number of programming.
In an application scenario, the onboard control system 10 is applied to an unmanned vehicle, and the unmanned vehicle cooperates with the onboard control system 10 through a plurality of sensors, so that the first processing unit 12 in the onboard control system 10 obtains a corresponding vehicle application program from the memory 11 to load the vehicle application program, and realizes a function corresponding to the vehicle application program.
In this embodiment, by dynamically loading the vehicle application program by the first processing unit 12, it is avoided that all the vehicle application programs are completely loaded to the first processing unit 12, so that occupation of logic resources of the first processing unit 12 can be reduced, and further, the first processing unit 12 with fewer logic resources can be used for vehicle-mounted control, thereby reducing the cost of the first processing unit 12.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a second embodiment of the vehicle-mounted control system provided in the present application. The in-vehicle control system 10 includes: a memory 11 and a first processing unit 12.
Wherein the first processing unit 12 comprises: a logic fixing subunit 121 and a logic configuring subunit 122.
Therein, the logic fixing subunit 121 is configured to load a first vehicle application configured to satisfy basic functions of the in-vehicle control system 10.
The logic configuration subunit 122 is connected to the logic fixing subunit 121 and the memory 11, and is configured to obtain the corresponding second vehicle application from the memory 11 to load, and implement a function corresponding to the second vehicle application.
For example, a second vehicle application corresponding to reverse, a second vehicle application corresponding to forward, a second vehicle application corresponding to turn, a second vehicle application corresponding to vehicle performance monitoring, a second vehicle application corresponding to component control, such as a wiper control program, a glass water control program, an air conditioning control program, and the like.
It will be appreciated that the second vehicle application stored in the memory 11 can be implemented separately without affecting the first vehicle application.
In an application scenario, the logic configuration subunit 122 is configured to, in response to the first load instruction, obtain a second vehicle application corresponding to the first load instruction from the memory 11 for loading, so as to implement a corresponding function.
And the logic configuration subunit 122 is configured to, in response to the second load instruction, detect whether there is a second vehicle application corresponding to the second load instruction in the logic configuration subunit 122, and if not, obtain the second vehicle application corresponding to the second load instruction from the memory 11, replace the second vehicle application existing in the logic configuration subunit with the second vehicle application corresponding to the second load instruction, and load the second vehicle application corresponding to the second load instruction.
With reference to fig. 3, a reverse command is taken as an example to explain:
when receiving a reverse command, the logic fixing subunit 121 first determines whether a corresponding vehicle application program already exists in the logic fixing subunit 121. If not, a reverse command is sent to the logic configuration subunit 122. The logic configuration subunit 122 detects whether there is a second vehicle application corresponding to the reverse instruction in the logic configuration subunit 122 in response to the reverse instruction. If not, the second vehicle application program corresponding to the reversing instruction is acquired from the memory 11 to be loaded, so that the reversing function is realized.
Such as. The memory 11 stores a second vehicle application a, a second vehicle application B, a second vehicle application C, and a second vehicle application D. The second vehicle application program A corresponds to a reversing instruction, the second vehicle application program B corresponds to a forwarding instruction, the second vehicle application program C corresponds to a left steering instruction, and the second vehicle application program D corresponds to a right steering instruction.
At this time, the logic configuration subunit 122 acquires the second vehicle application a from the memory 11, loads the second vehicle application a, and implements the reverse function in cooperation with the first vehicle application in the logic fixing subunit 121.
When it is detected that the second vehicle application program with the remaining functions exists in the logic configuration subunit 122, the second vehicle application program with the remaining functions needs to be deleted, and then the second vehicle application program corresponding to the current instruction is loaded. That is, the second vehicle application of the remaining functions already existing in the logical configuration subunit 122 is replaced with the currently acquired second vehicle application.
In another application scenario, the logic configuration subunit 122 is configured to, in response to a forward command, obtain a second vehicle application program corresponding to the forward command from the memory 11 for loading, and implement a forward driving function.
When the logic fixing subunit 121 receives the forward command, it determines whether a corresponding vehicle application program already exists in the logic fixing subunit 121. If not, a forward instruction is sent to the logic configuration subunit 122. The logic configuration subunit 122 detects whether there is a second vehicle application corresponding to the forward command in the logic configuration subunit 122, and if not, the logic configuration subunit 122 responds to the forward command, and obtains the second vehicle application corresponding to the forward command from the memory 11 to load, thereby implementing the reverse function.
When it is detected that the second vehicle application program with the remaining functions exists in the logic configuration subunit 122, the second vehicle application program with the remaining functions needs to be deleted, and then the second vehicle application program corresponding to the current instruction is loaded. That is, the second vehicle application of the remaining functions already existing in the logical configuration subunit 122 is replaced with the currently acquired second vehicle application.
If a reverse command is executed before the forward command, the logic configuration subunit 122 has a second vehicle application corresponding to the reverse command, and at this time, the second vehicle application corresponding to the reverse command needs to be deleted, and the second vehicle application corresponding to the forward command is loaded, so as to complete switching between different loading commands.
For example, the memory 11 stores a second vehicle application a, a second vehicle application B, a second vehicle application C, and a second vehicle application D. The second vehicle application program A corresponds to a reversing instruction, the second vehicle application program B corresponds to a forward instruction, the second vehicle application program C corresponds to a left steering instruction, and the second vehicle application program D corresponds to a right steering instruction.
At this time, the logic configuration subunit 122 acquires the second vehicle application B from the memory 11, loads the second vehicle application B, and implements the forward function in cooperation with the vehicle application in the logic fixing subunit 121.
In the present embodiment, the logic configuration subunit 122 only needs to load fewer vehicle applications, such as one vehicle application, by switching.
In this embodiment, by dynamically loading the vehicle application program through the logic configuration subunit 122, it is avoided that all the vehicle application programs are completely loaded to the first processing unit 12, so that the occupation of the logic resources of the first processing unit 12 can be reduced, and further, the first processing unit 12 with fewer logic resources can be used for vehicle-mounted control, thereby reducing the cost of the first processing unit 12.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a third embodiment of the vehicle-mounted control system provided in the present application. The in-vehicle control system 10 includes: a memory 11, a first processing unit 12 and a second processing unit 13.
The second processing unit 13 is connected to the first processing unit 12 and the memory 11, and configured to, in response to a load instruction of the first processing unit 12, obtain a corresponding vehicle application program from the memory 11, and send the vehicle application program to the first processing unit 12.
The second processing unit 13 may be a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), or the like.
The first processing unit 12 is configured to receive and load a vehicle application program, and implement a function corresponding to the vehicle application program.
In an application scenario, the second processing unit 13 is configured to, in response to a first load instruction, such as a reverse instruction, obtain a vehicle application program corresponding to the first load instruction from the memory 11, and send the vehicle application program to the first processing unit 12; the first processing unit 12 is configured to receive and load a vehicle application program corresponding to the first loading instruction, so as to implement a corresponding function.
With reference to fig. 5, a reverse command is taken as an example to explain:
when receiving the reverse instruction, the second processing unit 13 acquires a vehicle application program corresponding to the reverse instruction from the memory 11, and transmits the vehicle application program to the first processing unit 12. The first processing unit 12 is configured to receive and load a vehicle application program corresponding to the reverse instruction, so as to implement a reverse function. In some embodiments, the second processing unit 13 can detect the instruction corresponding to the vehicle application program acquired last time, and if the instruction corresponding last time is the same as this time, directly send a response instruction to the first processing unit 12, so that the first processing unit 12 knows that the vehicle application program corresponding to the reversing instruction already exists, and does not need to acquire again.
In other embodiments, when the first processing unit 12 needs to execute the corresponding function, it may automatically determine whether the corresponding vehicle application program has been loaded, if so, directly load the corresponding vehicle application program without obtaining the corresponding vehicle application program, and if not, send a load instruction to the second processing unit 13. After the vehicle application program sent by the second processing unit 13 is acquired, the original vehicle application program is replaced.
For example, the memory 11 stores a second vehicle application a, a second vehicle application B, a second vehicle application C, and a second vehicle application D. The second vehicle application program A corresponds to a reversing instruction, the second vehicle application program B corresponds to a forward instruction, the second vehicle application program C corresponds to a left steering instruction, and the second vehicle application program D corresponds to a right steering instruction.
At this time, the second processing unit 13 acquires the second vehicle application a from the memory 11 and sends the second vehicle application a to the first processing unit 12. The first processing unit 12 loads the second vehicle application a to implement the reverse function.
In another application scenario, the second processing unit 13 is configured to, in response to the first load instruction, obtain a vehicle application program corresponding to the first load instruction from the memory 11, and send the vehicle application program to the first processing unit 12; the first processing unit 12 is configured to receive and load a vehicle application program corresponding to the first loading instruction, so as to implement a corresponding function.
With reference to fig. 6, a forward command is described as an example:
upon receiving the forward instruction, the second processing unit 13 acquires a vehicle application corresponding to the forward instruction from the memory 11, and transmits the vehicle application to the first processing unit 12. The first processing unit 12 is configured to receive and load a vehicle application program corresponding to the forward instruction, and implement a forward driving function.
Such as. The memory 11 stores a second vehicle application a, a second vehicle application B, a second vehicle application C, and a second vehicle application D. The second vehicle application program A corresponds to a reversing instruction, the second vehicle application program B corresponds to a forward instruction, the second vehicle application program C corresponds to a left steering instruction, and the second vehicle application program D corresponds to a right steering instruction.
At this time, the second processing unit 13 acquires the second vehicle application B from the memory 11 and sends the second vehicle application B to the first processing unit 12. The first processing unit 12 loads the second vehicle application B to implement the forward travel function.
The first processing unit and the memory are connected by a PCIE (peripheral component interconnect express) interface.
Wherein, the memory is FLASH.
In this embodiment, by dynamically loading the vehicle application program by the first processing unit 12, it is avoided that all the vehicle application programs are completely loaded to the first processing unit 12, so that occupation of logic resources of the first processing unit 12 can be reduced, and further, the first processing unit 12 with fewer logic resources can be used for vehicle-mounted control, thereby reducing cost of the first processing unit 12.
Referring to fig. 7, fig. 7 is a schematic structural diagram of an embodiment of the unmanned vehicle provided by the present application. The unmanned vehicle 70 includes an onboard control system 10.
The in-vehicle control system 10 includes: a memory 11 and a first processing unit 12.
The memory 11 is used for storing a plurality of vehicle applications with different functions.
Such as a vehicle application corresponding to forward movement of the vehicle, a vehicle application corresponding to reverse movement of the vehicle, a vehicle application corresponding to steering of the vehicle, and a vehicle application corresponding to climate control of the passenger compartment of the vehicle. The memory 11 may be a FLASH architecture based memory.
The first processing unit 12 is connected to the memory 11, and is configured to acquire a corresponding vehicle application program from the memory 11 for loading, and implement a function corresponding to the vehicle application program; the first processing unit is realized based on logic resources of the FPGA.
In an application scenario, the onboard control system 10 is applied to an unmanned vehicle, and the unmanned vehicle cooperates with the onboard control system 10 through a plurality of sensors, so that the first processing unit 12 in the onboard control system 10 obtains a corresponding vehicle application program from the memory 11 to load the vehicle application program, and realizes a function corresponding to the vehicle application program.
In this embodiment, by dynamically loading the vehicle application program by the first processing unit 12, it is avoided that all the vehicle application programs are completely loaded to the first processing unit 12, so that occupation of logic resources of the first processing unit 12 can be reduced, and further, the first processing unit 12 with fewer logic resources can be used for vehicle-mounted control, thereby reducing the cost of the first processing unit 12.
In an application scenario, the functions of the vehicle applications stored in the memory 11 are used separately, which may be understood as not requiring synchronous execution, i.e., each vehicle application may be executed separately. When designing, the vehicle application programs corresponding to the functions are written into the memory 11 and are identified accordingly. When this use function is required, it is fetched from the memory 11 and loaded, the loading time being fast, which may be several tens of milliseconds.
For example, driverless vehicles may use different applications when entering garage while traveling forward and while backing into garage, but all require sensor input. At this time, the first processing unit 12 may be loaded with the application program to be used for the vehicle to advance in the advancing process. When switching to the reverse mode, the reverse function is implemented by loading an application program to be used for reverse in the first processing unit 12.
In summary, according to any of the above embodiments, all the vehicle applications that should be originally loaded into the first processing unit 12 are processed, so that part of the vehicle applications are stored in the memory 11, and the first processing unit 12 dynamically loads the vehicle applications, thereby avoiding all the vehicle applications from being loaded into the first processing unit 12, and reducing the occupation of the logic resources of the first processing unit 12, and further enabling the first processing unit 12 with fewer logic resources to perform vehicle-mounted control, thereby reducing the cost of the first processing unit 12.
Further, as the application program is developed, the application program is stored in the memory, so that the application program in the first processing unit 12 can be loaded as required, the vehicle application program can be further refined, and the function of the unmanned vehicle can be more comprehensive.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other manners. For example, the above-described device embodiments are merely illustrative, and for example, the division of the circuits or units is only one type of division of logical functions, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated into one first processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made according to the content of the present specification and the accompanying drawings, or which are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (10)
1. An in-vehicle control system, characterized by comprising:
a memory for storing a plurality of vehicle applications of different functions;
the first processing unit is connected with the memory and used for acquiring a corresponding vehicle application program from the memory to load the vehicle application program and realizing a function corresponding to the vehicle application program;
the first processing unit is realized based on logic resources of the FPGA.
2. The on-board control system according to claim 1, characterized in that the first processing unit includes:
a logic-fixing subunit for loading a first vehicle application configured to satisfy a basic function of the in-vehicle control system;
and the logic configuration subunit is connected with the logic fixing subunit and the memory and is used for acquiring a corresponding second vehicle application program from the memory to load and realizing a function corresponding to the second vehicle application program.
3. The vehicle-mounted control system according to claim 2, wherein the logic configuration subunit is configured to, in response to a first load instruction, detect whether a second vehicle application corresponding to the first load instruction exists in the logic configuration subunit, and if not, obtain the second vehicle application corresponding to the first load instruction from the memory for loading.
4. The on-board control system according to claim 3, wherein the logic configuration subunit is configured to, in response to a second load instruction, detect whether there is a second vehicle application corresponding to the second load instruction in the logic configuration subunit, and if not, obtain the second vehicle application corresponding to the second load instruction from the memory, replace the second vehicle application existing in the logic configuration subunit with the second vehicle application corresponding to the second load instruction, and load the second vehicle application corresponding to the second load instruction.
5. The on-board control system of claim 1, further comprising:
the second processing unit is connected with the first processing unit and the memory and used for responding to a loading instruction of the first processing unit, acquiring a corresponding vehicle application program from the memory and sending the vehicle application program to the first processing unit;
the first processing unit is used for receiving and loading the vehicle application program and realizing the function corresponding to the vehicle application program.
6. The on-board control system according to claim 5,
the second processing unit is used for responding to a first loading instruction, acquiring a vehicle application program corresponding to the first loading instruction from the memory, and sending the vehicle application program to the first processing unit;
the first processing unit is used for receiving and loading the vehicle application program corresponding to the first loading instruction.
7. The on-board control system according to claim 6,
the second processing unit is used for responding to a second loading instruction, acquiring a vehicle application program corresponding to the second loading instruction from the memory, and sending the vehicle application program to the first processing unit;
the first processing unit is used for receiving the vehicle application program corresponding to the second loading instruction and replacing the original vehicle application program with the vehicle application program.
8. The vehicle-mounted control system according to claim 1, wherein the first processing unit is connected to the memory through a PCIE interface.
9. The on-board control system of claim 1, wherein the memory is FLASH.
10. An unmanned vehicle, characterized in that the unmanned vehicle comprises an on-board control system according to any of claims 1-9.
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| CN202111572340.8A CN114460873A (en) | 2021-12-21 | 2021-12-21 | Vehicle-mounted control system and unmanned vehicle |
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| CN202111572340.8A CN114460873A (en) | 2021-12-21 | 2021-12-21 | Vehicle-mounted control system and unmanned vehicle |
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| CN107329788A (en) * | 2017-06-29 | 2017-11-07 | 广州优视网络科技有限公司 | application program loading method, device and user terminal |
| CN113568748A (en) * | 2021-07-27 | 2021-10-29 | Oppo广东移动通信有限公司 | Application process processing method and device, storage medium and electronic equipment |
| CN113635860A (en) * | 2021-08-10 | 2021-11-12 | 北京车和家信息技术有限公司 | Vehicle control method, device, system, medium, equipment and terminal |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107329788A (en) * | 2017-06-29 | 2017-11-07 | 广州优视网络科技有限公司 | application program loading method, device and user terminal |
| CN113568748A (en) * | 2021-07-27 | 2021-10-29 | Oppo广东移动通信有限公司 | Application process processing method and device, storage medium and electronic equipment |
| CN113635860A (en) * | 2021-08-10 | 2021-11-12 | 北京车和家信息技术有限公司 | Vehicle control method, device, system, medium, equipment and terminal |
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