CN115447510A - Vehicle-mounted computing platform control system, method and storage medium - Google Patents
Vehicle-mounted computing platform control system, method and storage medium Download PDFInfo
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Abstract
The embodiment of the disclosure provides a vehicle-mounted computing platform control system, a method and a storage medium, wherein the vehicle-mounted computing platform control system comprises: a gauge micro-control unit configured to transmit a control signal; a drive-by-wire micro control unit configured to receive the control signal from the gauge micro control unit; wherein the control signal is capable of being transmitted via at least two different communication means, and the at least two different communication means have a priority order. Through the processing scheme disclosed by the invention, the reliability of the operation line control of the vehicle-mounted computing platform is improved, and the high-level automatic driving requirement is met.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a vehicle-mounted computing platform control system, a method and a storage medium.
Background
For a conventional vehicle drive-by-wire design, such as a throttle and brake drive-by-wire architecture, as shown in fig. 1, a driver operates a brake pedal, a brake pedal sensor converts an operation action of the driver operating the brake pedal into an analog/digital signal, and an ECU (Electronic Control Unit) converts the analog/digital signal into a Control quantity through a series of calculations and controls a driving motor (a fuel vehicle is a throttle) to brake according to the Control quantity.
For newly developed unmanned vehicles, a vehicle-mounted computing platform/intelligent driving area controller (hereinafter, referred to as "vehicle-mounted computing platform") of level L4 is arranged on a vehicle, and a vehicle-mounted MCU (MicrocontrollerUnit) and a line-control MCU are connected through a CAN (controller area network) bus. Although the function of the vehicle-mounted computing platform for operating the line control MCU can be realized, the reliability of the vehicle-mounted computing platform cannot meet the requirement of high-level automatic driving due to abnormal running of the vehicle-mounted computing platform or damage of cables and connectors between the vehicle-mounted computing platform and the line control MCU.
Disclosure of Invention
In view of the above, embodiments of the present disclosure provide a vehicle-mounted computing platform control system, method and storage medium, which at least partially solve the problems in the prior art.
In a first aspect, an embodiment of the present disclosure provides an in-vehicle computing platform control system, including:
a gauge micro-control unit configured to transmit a control signal;
a drive-by-wire micro control unit configured to receive the control signal from the gauge micro control unit; wherein
The control signal can be transmitted via at least two different communication means, and the at least two different communication means have a priority order.
According to a specific implementation of the disclosed embodiment, the vehicle gauge micro control unit comprises different control strategies for the same control operation, and the different control strategies are designed to be different implementations.
According to a specific implementation manner of the embodiment of the present disclosure, a first control policy of the different control policies operates on at least two cores, and the at least two cores are interlocked; and is
A second control strategy of the different control strategies operates on a single core.
According to a specific implementation manner of the embodiment of the present disclosure, the first control strategy is a model predictive control algorithm, and the second control strategy is a linear quadratic controller.
According to a specific implementation manner of the embodiment of the present disclosure, the at least two different communication manners include a CAN bus and an ethernet, and the priority of the CAN bus communication manner is higher than the priority of the ethernet communication manner.
According to a specific implementation manner of the embodiment of the present disclosure, the first control policy adopts a communication manner of the CAN bus, and the second control policy adopts a communication manner of the ethernet.
According to a specific implementation manner of the embodiment of the disclosure, when the first control strategy does not issue a control strategy for more than a preset time, the second control strategy is switched to; or
And when the drive-by-wire micro control unit detects that the control strategy issued by the first control strategy has an error, switching to the second control strategy.
According to a specific implementation manner of the embodiment of the present disclosure, when switching to the second control policy, the first control policy periodically issues a control policy, and when a difference between the control policy issued by the first control policy and the control policy issued by the second control policy is smaller than a predetermined value, switching to the first control policy.
In a second aspect, an embodiment of the present disclosure provides a vehicle-mounted computing platform control method, including:
the control signal transmitter transmits a control signal;
a control signal receiver receives the control signal from the control signal transmitter; wherein
The control signal is capable of being transmitted via at least two different communication means, and the at least two different communication means have a priority order;
for the same control operation, the control signal comprises a first control signal and a second control signal generated by different control strategies;
the first control signal and the second control signal are transmitted to the control signal receiver via different communication manners; and is provided with
The at least two different communication modes can be switched.
In a third aspect, the disclosed embodiments provide a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the in-vehicle computing platform control method according to the second aspect of the disclosure.
In a fourth aspect, the disclosed embodiments also provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions that, when executed by a computer, cause the computer to perform the in-vehicle computing platform control method in the aforementioned third aspect.
The vehicle-mounted computing platform control system in the embodiment of the disclosure comprises: a gauge micro-control unit configured to transmit a control signal; a drive-by-wire micro control unit configured to receive the control signal from the gauge micro control unit; wherein the control signal is capable of being transmitted via at least two different communication means, and the at least two different communication means have a priority order. Through the processing scheme disclosed by the invention, the reliability of the operation line control of the vehicle-mounted computing platform is improved, and the high-level automatic driving requirement is met.
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In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required to be used in the embodiments will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of a conventional drive-by-wire design for a conventional vehicle provided in an embodiment of the present disclosure;
FIG. 2 is a schematic view of a vehicle drive-by-wire design provided by an embodiment of the present disclosure;
FIG. 3 is a schematic view of a vehicle by-wire design provided by an embodiment of the present disclosure;
fig. 4 is a flowchart of a control method for a vehicle-mounted computing platform according to an embodiment of the present disclosure.
Detailed Description
The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
The embodiments of the present disclosure are described below with specific examples, and other advantages and effects of the present disclosure will be readily apparent to those skilled in the art from the disclosure in the specification. It is to be understood that the described embodiments are merely illustrative of some, and not restrictive, of the embodiments of the disclosure. The disclosure may be embodied or carried out in various other specific embodiments, and various modifications and changes may be made in the details within the description without departing from the spirit of the disclosure. It should be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the disclosure, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present disclosure, and the drawings only show the components related to the present disclosure rather than the number, shape and size of the components in actual implementation, and the type, amount and ratio of the components in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.
In addition, in the following description, specific details are provided to provide a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.
First, referring to fig. 2, an in-vehicle computing platform control system for controlling a vehicle according to an operation action of an operator (e.g., a driver) or a perception result of a visual perception system of an autonomous vehicle according to an embodiment of the present disclosure will be described. Specifically, the vehicle-mounted computing platform control system comprises a vehicle gauge micro control unit MCU and a line control micro control unit MCU.
The vehicle control unit MCU is configured to transmit a control signal, which may be, in particular, a control signal generated according to an operation action of an operator (e.g., a driver), for example, for a braking action, a corresponding control signal is generated according to a stepping amount of a brake pedal.
Alternatively, in the field of automatic driving, the control signal may be a control signal generated after calculation by a control strategy in a calculation core based on, for example, a sensing result of a visual sensing system and input the sensing result to the calculation core running in the vehicle-scale micro control unit MCU, that is, a control signal for control is output after the result sensed by the visual sensing system is processed by an algorithm running in the calculation core.
It should be understood that in this case, the vehicle-scale micro control unit MCU contains a computation core, and a control strategy is contained in the computation core, the control strategy being a computation unit for processing an input and outputting a control signal. In the disclosed embodiment, the computing core may be, for example, a CPU, a GPU, or other computing unit, and the control strategy may be, for example, an algorithm that controls throttle, brake, or steering.
The wire control micro control unit MCU is configured to receive a control signal from the vehicle gauge micro control unit MCU. Specifically, in order to control a controlled object such as an accelerator, a brake, a steering, etc., it is necessary to receive a control signal from a vehicle gauge micro control unit MCU and further process the received signal to control the controlled object through various manners such as PWM, CAN, and ANALOG.
In the embodiment of the disclosure, the reliability of the conventional mode of transmitting the control signal through the CAN bus may not meet the requirement of high-level automatic driving due to abnormal operation of a calculation core of the vehicle-scale micro control unit MCU, an error of a control strategy running in the calculation core, or damage of a cable and a connector between the vehicle-mounted calculation platform and the line control MCU. Thus, in the disclosed embodiments, the control signal can be transmitted via at least two different communication manners, and the at least two different communication manners have a priority order.
Specifically, for example, the control signal may be transmitted in a wired manner via a CAN bus, a vehicle-mounted ethernet, or the like, or alternatively, the control signal may be transmitted in a wireless manner such as bluetooth or zigbee. However, it should be understood that two wired transmission modes, namely a CAN bus and a vehicle-mounted ethernet, are preferably adopted to improve the reliability of signal transmission.
In addition, the at least two transmission modes have priority orders, for example, the transmission mode of the CAN bus is preferentially adopted, and the standby transmission mode such as the Ethernet is used only when the transmission mode of the CAN bus is wrong. More specifically, a communication scheme with higher reliability is adopted as a signal transmission scheme with higher priority, and a communication scheme with less-optimal reliability is adopted as a signal transmission scheme with lower priority. In the embodiment of the present disclosure, the CAN bus communication method is used as a signal transmission method with high priority, and the ethernet is used as a signal transmission method with low priority. In other words, in the embodiment of the present disclosure, the ethernet communication mode with a low priority is used as an alternative communication mode, and the ethernet communication mode CAN be switched to through the standby signal transmission mode when the CAN bus communication mode has an error, so that the influence on the control when a single signal transmission mode has an error is avoided, and the reliability of the automatic driving is improved.
In the embodiment of the present disclosure, to further improve the reliability of the control, for the same control operation, for example, the brake control, different control strategies may be embedded in the vehicle gauge micro control unit MCU, and the different strategies are run on different computing cores. In particular, for example in the case of an obstacle in front of the vehicle, different control strategies may be embedded in the vehicle regulation micro control unit MCU and designed for different implementations. For example, one of the control strategies may employ a Model Predictive Control (MPC) algorithm, and the other control strategy may employ a linear quadratic controller (LQR), that is, for the case where an obstacle occurs in front of the vehicle, one of the control strategies employs the MPC algorithm, and the other control strategy employs the LQR algorithm, so that it is possible to prevent a single control strategy from causing an error in sending a control signal due to a problem (e.g., a code error) of the strategy itself. In this case, if one control strategy has a problem, it may be switched to another control strategy, and since different control strategies operate in different computational cores, it is only necessary that no problem occurs in both the computational core and the control strategy, it may be switched to a normal case (i.e., normal control operation). It should be understood that the control strategies recited in the embodiments of the present disclosure are merely illustrative and are not intended to constitute a limitation of the present disclosure.
In addition, in the disclosed embodiment, in order to further improve the reliability of the control, one control strategy of different control strategies is operated on at least two cores, and the at least two cores are interlocked. That is to say, a plurality of computing cores are contained in the vehicle-scale micro control unit MCU, wherein at least two computing cores run a unified control strategy, that is, the at least two cores run the same control strategy, and the at least two cores are interlocked, so that in case of an error in one of the computing cores, the other computing core can form a backup. For other control strategies in the control strategies, the method only needs to be operated in a single core, so that the waste of computing cores is prevented, and the hardware cost is reduced.
That is, for the default control strategy, the default control strategy is run by the interlocked computing cores, so that the whole control strategy can not be normally performed under the condition that one computing core is in error. In addition, for the backup control strategy, the control strategy runs on a single computing core, so that the cost is reduced.
As described above, in the embodiment of the present disclosure, as shown in fig. 3, since the default control policy and the preferred communication method are stored, there are 4 different communication methods and combinations of control policies as follows:
combination 1: control strategy 1 and communication mode 1
And (3) combination 2: control strategy 1 and communication mode 2
And (3) combination: control strategy 2 and communication mode 1
And (4) combination: control strategy 2 and communication mode 2
It should be understood that in the above combination, control strategy 1 is a default control strategy, control strategy 2 is an alternative control strategy, communication mode 1 is a default communication mode, and communication mode 2 is an alternative communication mode.
It can be seen that, in the above 4 embodiments of the vehicle-mounted computing platform control system, the reliability of the combination 1 is the highest, because from the perspective of the computing core, it adopts the multi-core setting, from the perspective of the control policy, it adopts the default control policy, and the multi-core deployment, from the perspective of the communication manner, adopts the default communication manner.
Although the combination 2 has high reliability of the computational core and the control policy, the reliability of the communication method is insufficient compared to that of the combination 1.
The communication mode of the combination 3 has high reliability, but the reliability of the computing core and the control strategy is not high, but the cost is low.
The reliability of the communication mode, the computing core and the control strategy of the combination 4 is not high, but the cost is low.
In the embodiment of the present disclosure, in order to improve reliability, a backup strategy is adopted, so that at least 2 different combinations are selected as implementation schemes of the vehicle-mounted computing platform control system of the embodiment of the present disclosure. In the embodiment of the present disclosure, it is preferable to use the control policy 1 because the interlocked computation cores can reduce the possibility of errors occurring in the computation cores, and it is also preferable to use the communication method 1.
Based on the above, there are 6 different implementations of the vehicle-mounted computing platform control system in the embodiments of the present disclosure:
embodiment 1: combination 1 and combination 4 were chosen as embodiments of the in-vehicle computing platform control system of the embodiments of the present disclosure, in which case the embodiment of combination 4 is a backup of the embodiment of combination 1, and when a problem occurs with the embodiment of combination 1, a switch is made to the embodiment of combination 4. The combination can fully utilize the reliability of multi-core interlocking in the control strategy 1, and simultaneously fully utilize the mode of the control strategy 2, which is different from the mode of the control strategy 1, to carry out communication, thereby further improving the reliability and reducing the overall hardware cost.
Embodiment 2: combination 1 and combination 3 were chosen as embodiments of the in-vehicle computing platform control system of the embodiments of the present disclosure, in which case the embodiment of combination 3 is a backup of the embodiment of combination 1, and when a problem occurs with the embodiment of combination 1, a switch is made to the embodiment of combination 3. This combination can avoid the problem of insufficient reliability due to the problem with the control strategy 1.
Embodiment 3: combination 1 and combination 2 were chosen as embodiments of the in-vehicle computing platform control system of the disclosed example, in which case the embodiment of combination 2 is a backup of the embodiment of combination 1, and when a problem occurs with the embodiment of combination 1, a switch is made to the embodiment of combination 2. The combination can avoid the problem of insufficient reliability caused by the problem of the communication mode 1.
Embodiment 4: combination 2 and combination 3 are selected as the implementation schemes of the vehicle-mounted computing platform control system according to the embodiment of the present disclosure, in this case, the implementation scheme of combination 2 and the implementation scheme of combination 3 may be backup for each other, that is, when the implementation scheme of combination 2 has a problem, the implementation scheme of combination 3 is switched to, and when the implementation scheme of combination 3 has a problem, the implementation scheme of combination 2 is switched to. This combination is a compromise because it does not take full advantage of the control strategy and communication means of operation.
Embodiment 5: combination 3 and combination 4 were chosen as embodiments of the in-vehicle computing platform control system of the embodiments of the present disclosure, in which case the embodiment of combination 4 is a backup of the embodiment of combination 3, and when a problem occurs with the embodiment of combination 3, a switch is made to the embodiment of combination 4. This combination can avoid the problem of insufficient reliability due to the problem of the communication system 1 itself.
Embodiment 6: combination 2 and combination 4 were chosen as embodiments of the in-vehicle computing platform control system of the embodiments of the present disclosure, in which case the embodiment of combination 4 is a backup of the embodiment of combination 2, and when a problem occurs with the embodiment of combination 2, a switch is made to the embodiment of combination 4. This combination can avoid the problem of insufficient reliability due to the problem with the control strategy 1 itself.
In the above, the embodiments of the in-vehicle computing platform control system in the embodiments of the present disclosure are described, and the switching of the embodiments is described next. As described above, in the examples of the present disclosure, it is preferable to adopt the embodiment of the combination 1, and at this time, if the embodiment of the combination 1 does not issue the control strategy beyond a predetermined time, it is switched to the embodiment of the combination 4. In this way, errors due to failure of the policy itself or the compute core running the policy can be prevented.
In the disclosed embodiment, the predetermined time may be, for example, 10ms, 20ms, 30ms, or other suitable time.
In another embodiment, when the MCU detects that the control strategy issued by the embodiment of the combination 1 has an error, the MCU switches to the embodiment of the combination 4. For example, when the vehicle-mounted micro control unit MCU transmits the control strategy to the line control micro control unit MCU through the CAN bus, if the data CRC error is caused by cable damage or electromagnetic interference, in such a case, the implementation is switched to the implementation of the combination 4, and at this time, the transmission CAN be performed in the manner of, for example, ethernet, thereby improving reliability.
It should be understood that the policy switching may also be performed in other situations, and is not limited to the two cases listed above. The above describes the switching of combination 1 to combination 4, it being understood that switching between other combinations is also possible.
In addition, when switching to the embodiment of the combination 4, the embodiment of the combination 1 may also periodically send the control signal downwards, and when the difference between the control signal sent by the embodiment of the combination 1 and the control signal sent by the embodiment of the combination 4 is smaller than a predetermined value, switching to the embodiment of the combination 1 may be performed.
Specifically, after switching to the embodiment of combination 4, the preferred communication method in the embodiment of combination 1 may also be adopted to issue a control policy to the MCU by wire, and at this time, if the difference between the control signal issued by the embodiment of combination 1 and the control signal issued by the embodiment of combination 4 is smaller than a predetermined value, switching to the embodiment of combination 1 may be performed, which may prevent an error due to the policy itself.
In another case, after switching to the implementation of combination 4, the implementation of combination 1 issues a control signal to the MCU by using a communication method different from the original communication method, and at this time, if the difference between the control signal issued by the implementation of combination 1 and the control signal issued by the implementation of combination 4 is smaller than a predetermined value, it may be determined that the first communication method may have a fault, and then fault information is sent. The location of the fault can thus be determined.
The above describes the switching of combination 1 to combination 4, it being understood that switching between other combinations is also possible.
In addition, as shown in fig. 4, an embodiment of the present disclosure further provides a vehicle-mounted computing platform control method, including:
s401: the control signal transmitter transmits a control signal.
In the disclosed embodiment, the control signal transmitter may be a vehicle gauge MCU as described above.
S402: a control signal receiver receives the control signal from the control signal transmitter.
In the disclosed embodiment, the control signal receiver may be a line control MCU as described above.
In the disclosed embodiment, the control signal can be transmitted via at least two different communication manners, and the at least two different communication manners have a priority order;
for the same control operation, the control signal comprises a first control signal and a second control signal generated by different control strategies;
the first control signal and the second control signal are transmitted to the control signal receiver via different communication manners; and is
The at least two different communication modes can be switched.
Various details of the embodiments of the present disclosure may refer to the above description of a vehicle-mounted computing platform control system, which is not repeated herein.
In addition, the disclosed embodiments also provide a non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute the in-vehicle computing platform control method as described above.
Therefore, the embodiment of the present disclosure provides the following technical solutions:
1. an in-vehicle computing platform control system, comprising:
a gauge micro-control unit configured to transmit a control signal;
a drive-by-wire micro control unit configured to receive the control signal from the gauge micro control unit; wherein
The control signal can be transmitted via at least two different communication means, and the at least two different communication means have a priority order.
2. The on-board computing platform control system of 1, the vehicle gauge micro-control unit comprising different control strategies for a same control operation, and the different control strategies designed for different implementations.
3. According to the vehicle-mounted computing platform control system of 2, a first control strategy of the different control strategies operates on at least two cores, and the at least two cores are interlocked; and is
A second of the different control strategies operates on a single core.
4. The in-vehicle computing platform control system of 3, the first control strategy is a model predictive control algorithm and the second control strategy is a linear quadratic controller.
5. The vehicle computing platform control system of claim 3, wherein the at least two different communication modes include a CAN bus and an Ethernet, and the priority of the CAN bus communication mode is higher than the priority of the Ethernet communication mode.
6. According to the vehicle-mounted computing platform control system of claim 5, the first control strategy adopts a communication mode of the CAN bus, and the second control strategy adopts a communication mode of the ethernet.
7. According to the vehicle-mounted computing platform control system in the step 6, when the first control strategy exceeds the preset time and a control strategy is not issued, switching to the second control strategy; or
And when the drive-by-wire micro control unit detects that the control strategy issued by the first control strategy has an error, switching to the second control strategy.
8. According to the vehicle-mounted computing platform control system of 7, when the control strategy is switched to the second control strategy, the first control strategy periodically issues a control strategy, and when the difference between the control strategy issued by the first control strategy and the control strategy issued by the second control strategy is smaller than a preset value, the control strategy is switched to the first control strategy.
9. An in-vehicle computing platform control method, comprising:
the control signal transmitter transmits a control signal;
a control signal receiver receives the control signal from the control signal transmitter; wherein
The control signal is capable of being transmitted via at least two different communication means, and the at least two different communication means have a priority order;
for the same control operation, the control signal comprises a first control signal and a second control signal generated by different control strategies;
the first control signal and the second control signal are transmitted to the control signal receiver via different communication manners; and is
The at least two different communication modes can be switched.
10. A non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the in-vehicle computing platform control method according to 9.
The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present disclosure should be covered within the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (10)
1. An in-vehicle computing platform control system, comprising:
a gauge micro-control unit configured to transmit a control signal;
a drive-by-wire micro control unit configured to receive the control signal from the gauge micro control unit; wherein
The control signal can be transmitted via at least two different communication manners, and the at least two different communication manners have a priority order.
2. The in-vehicle computing platform control system of claim 1, wherein the vehicle gauge micro-control unit includes different control strategies for a same control operation, and the different control strategies are designed for different implementations.
3. The in-vehicle computing platform control system of claim 2,
a first control strategy of the different control strategies operates on at least two cores, the at least two cores being interlocked; and is
A second of the different control strategies operates on a single core.
4. The in-vehicle computing platform control system of claim 3, wherein the first control strategy is a model predictive control algorithm and the second control strategy is a linear quadratic controller.
5. The vehicle computing platform control system of claim 3, wherein the at least two different communication modalities include a CAN bus and an Ethernet, and wherein the priority of the CAN bus communication modality is higher than the priority of the Ethernet communication modality.
6. The vehicle computing platform control system of claim 5, wherein the first control strategy employs communication over the CAN bus and the second control strategy employs communication over the Ethernet.
7. The in-vehicle computing platform control system of claim 6, wherein when the first control strategy has not issued a control strategy for more than a predetermined time, switching to the second control strategy; or
And when the drive-by-wire micro control unit detects that the control strategy issued by the first control strategy has an error, switching to the second control strategy.
8. The vehicle-mounted computing platform control system according to claim 7, wherein the first control strategy periodically issues a control strategy when switching to the second control strategy, and switches to the first control strategy when a difference between the control strategy issued by the first control strategy and the control strategy issued by the second control strategy is smaller than a predetermined value.
9. A vehicle-mounted computing platform control method is characterized by comprising the following steps:
the control signal transmitter transmits a control signal;
a control signal receiver receives the control signal from the control signal transmitter; wherein
The control signal is capable of being transmitted via at least two different communication means, and the at least two different communication means have a priority order;
for the same control operation, the control signal comprises a first control signal and a second control signal generated by different control strategies;
the first control signal and the second control signal are transmitted to the control signal receiver via different communication manners; and is provided with
The at least two different communication modes can be switched.
10. A non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the in-vehicle computing platform control method according to claim 9.
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| CN102897165A (en) * | 2012-11-05 | 2013-01-30 | 北京经纬恒润科技有限公司 | Hybrid integrated controller |
| JP2018042147A (en) * | 2016-09-08 | 2018-03-15 | 日立オートモティブシステムズ株式会社 | Vehicle control system |
| CN114194125A (en) * | 2021-12-31 | 2022-03-18 | 上海仙途智能科技有限公司 | Vehicle control unit, running method of vehicle control unit and vehicle |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102897165A (en) * | 2012-11-05 | 2013-01-30 | 北京经纬恒润科技有限公司 | Hybrid integrated controller |
| JP2018042147A (en) * | 2016-09-08 | 2018-03-15 | 日立オートモティブシステムズ株式会社 | Vehicle control system |
| CN114194125A (en) * | 2021-12-31 | 2022-03-18 | 上海仙途智能科技有限公司 | Vehicle control unit, running method of vehicle control unit and vehicle |
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