CN115617020A - Vehicle-mounted control system, vehicle-mounted operation detection method, system and storage medium - Google Patents
Vehicle-mounted control system, vehicle-mounted operation detection method, system and storage medium Download PDFInfo
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- CN115617020A CN115617020A CN202211392181.8A CN202211392181A CN115617020A CN 115617020 A CN115617020 A CN 115617020A CN 202211392181 A CN202211392181 A CN 202211392181A CN 115617020 A CN115617020 A CN 115617020A
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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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
Abstract
The application provides a vehicle-mounted control system, a vehicle-mounted operation detection method, a vehicle-mounted operation detection system and a storage medium, wherein the vehicle-mounted control system comprises: the edge control units are respectively connected with the central computing unit through communication links to realize information transmission between every two edge control units; each edge control unit is respectively corresponding to different vehicle-mounted control equipment; the central computing unit and the edge control unit carry out mutual operation detection, and the central computing unit and the edge control unit also carry out operation detection respectively with other edge control units so as to determine operation faults existing in the vehicle-mounted control system. By arranging a large number of edge control units and corresponding vehicle-mounted control equipment thereof as an integral system together with a central computing unit, the problem that the edge control units are incompatible due to different suppliers or different models and cannot realize the unified management of the vehicle-mounted system is avoided; the fault detection efficiency and accuracy of the vehicle-mounted control system are improved, and the maintenance cost of the whole system is reduced.
Description
Technical Field
The application relates to the technical field of vehicle-mounted control, in particular to a vehicle-mounted control system, a vehicle-mounted operation detection method, a vehicle-mounted operation detection system and a storage medium.
Background
With the upgrading of automobile products, and the like, the number of vehicle-mounted electronic components is increased to realize more functions. The communication between each electronic element and the vehicle-mounted controller is realized by adopting the traditional CAN, and the load rate is higher. Even if network segments are divided through network management, the dramatically increased interactive information still needs to be sent through message routing, signal routing and the like of the gateway. In addition, electronic elements with different functions correspond to different independent development suppliers, so that the vehicle-mounted controller is difficult to adapt to each electronic element, and the vehicle-mounted centralized control is difficult to realize.
Therefore, a new on-board control scheme is needed.
Disclosure of Invention
In view of this, embodiments of the present specification provide an on-vehicle control system, an on-vehicle operation detection method, an on-vehicle operation detection system, and a storage medium, which are applied to an on-vehicle control process.
The embodiment of the specification provides the following technical scheme:
an embodiment of the present specification provides an in-vehicle control system, including:
the edge control units are respectively connected with the central computing unit through communication links to realize information transmission between every two edge control units;
each edge control unit is respectively corresponding to different vehicle-mounted control equipment;
the central computing unit and the edge control unit are used for mutual operation detection, and the central computing unit and the edge control unit are also respectively used for operation detection with other edge control units so as to determine operation faults existing in the vehicle-mounted control system.
The embodiment of the present specification further provides a vehicle-mounted operation detection method, where the vehicle-mounted operation detection method employs a vehicle-mounted control system as in any technical scheme of the embodiment of the present specification, and the vehicle-mounted operation detection method includes:
detecting an operation fault of the central computing unit according to each edge control unit;
and/or, detecting the operation fault of each edge control unit by combining the central computing unit; the operation faults comprise a fault of a central computing unit, a fault of an edge control unit, a fault between the central computing unit and the edge control unit and a fault between edge control units.
The embodiment of the present specification further provides a vehicle-mounted control system, which includes a memory, a processor, and a computer program, where the computer program is stored in the memory, and the processor runs the computer program to execute the vehicle-mounted operation detection method in any technical solution of the embodiment of the present specification.
The embodiments of the present specification further provide a readable storage medium, where a computer program is stored, and the computer program is used, when executed by a processor, to implement the vehicle-mounted operation detection method in any technical solution of the embodiments of the present specification.
Compared with the prior art, the embodiment of the specification adopts at least one technical scheme which can achieve the beneficial effects that at least:
all edge control units and corresponding vehicle-mounted control equipment thereof are unified with a central computing unit to form an integral system; the situation that each edge control unit is incompatible with the vehicle-mounted system due to different suppliers or different models and cannot realize the unified management of the vehicle-mounted system is avoided; through a redundant and perfect topological structure, mutual monitoring among all nodes can be realized, the fault detection efficiency and accuracy of the vehicle-mounted control system are improved, the maintenance cost of the whole system is reduced, and the like.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described 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.
FIG. 1 is a schematic diagram of an exemplary architecture of an on-board control system of the present application;
FIG. 2 is a flow chart of an on-board operation detection method of the present application;
FIG. 3 is a schematic diagram of an architecture corresponding to local detection of an onboard control system according to the present application;
fig. 4 is a schematic structural diagram of an on-board operation detection system according to the present application.
Detailed Description
The embodiments of the present application will be described in detail below with reference to the accompanying drawings.
The following description of the embodiments of the present application is provided by way of specific examples, and other advantages and effects of the present application will be readily apparent to those skilled in the art from the disclosure herein. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. The application is capable of other and different embodiments and its several details are capable of modifications and various changes in detail without departing from the spirit of the application. It is to 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 given herein without making any creative effort, shall fall within the protection scope of the present application.
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 present application, 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 and 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 application, and the drawings only show the components related to the present application 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 facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the present invention may be practiced without these specific details.
With the increase of vehicle-mounted requirements and functions, the electronic and electrical architecture of the automobile in the prior art cannot meet the increasing requirements. Although the existing distributed vehicle-mounted architecture CAN adapt the electronic elements according to functions and communicate with the vehicle-mounted main controller, the electronic elements cannot be uniformly adapted with the main controller due to different development suppliers, and the problems of unsmooth operation and the like CAN occur even if gateway and CAN communication is adopted, so that the efficiency of signal transmission between the electronic elements and the main controller is low.
Based on this, the embodiment of the present specification provides a vehicle-mounted control and operation detection scheme: as shown in fig. 1, an onboard control system is proposed, which comprises a central computing unit a and a plurality of edge control units, such as B, C, D, etc., communicatively connected thereto. Each edge control unit respectively realizes information transmission with the central computing unit, and the whole vehicle-mounted control system is designed with a safety and redundancy mechanism to ensure the operation of actual products. The central computing unit and each edge control unit are assigned with non-overlapping identifier IDs, respectively. The central computing unit and the edge control unit perform mutual operation detection in the operation process, and the central computing unit and the edge control unit perform operation detection with other edge control units respectively, so that operation faults under the framework can be found in time in the operation process, the work of other normal operation units cannot be influenced, and convenient and efficient operation detection is realized.
The technical solutions provided by the embodiments of the present application are described below with reference to the accompanying drawings.
As shown in fig. 1, the vehicle-mounted control system includes a central computing unit a, an edge control unit B, and an edge control unit C and an edge control unit D adjacent to the edge control unit B, and in some embodiments, the edge control unit adjacent to the edge control unit B is not limited to the edge control unit C and the edge control unit D. In fig. 1, a solid line indicates that the central computing unit and each edge control unit form a basic star communication topology, and a dotted line indicates that the central computing unit and each edge control unit are sequentially connected to form a redundant ring communication topology. The central computing unit is a control core of the vehicle-mounted architecture, the edge control units are sensing and executing units in the vehicle-mounted architecture, and in some embodiments, each edge control unit corresponds to different vehicle-mounted control devices. The central computing unit and the edge control unit in the vehicle-mounted architecture are connected through a communication link, wherein the communication link CAN be a vehicle-mounted Ethernet or a CAN. The central computing unit and the edge control unit are respectively assigned with non-repetitive identifier IDs. The method comprises the steps that a central computing unit needs to periodically broadcast self heartbeat signals to each edge computing unit, an edge control unit needs to periodically send heartbeat signals to adjacent edge computing units through a ring topology link, the heartbeat signals are a frame of information containing self identification IDs and count values of cyclic accumulation, and the heartbeat signals of the edge control unit further comprise Active/Inactive signals (confirmed by the central computing unit). The edge control unit needs to periodically send a heartbeat signal to the central computing unit, wherein the heartbeat signal contains an Active/Inactive signal (confirmed by two adjacent nodes) besides the self identification ID and the count value of the loop accumulation. In some embodiments the active state signal indicates a continuously accumulated count of a count value of a loop in the heartbeat signal while in the active state; the loop accumulation count value in the heartbeat signal is unchanged if the active state signal indicates an inactive state.
Wherein, the central control unit is a control core in the architecture, and comprises: and carrying abundant functional interfaces including CAN, LIN, vehicle-mounted Ethernet, video input, display output, audio bus, analog and digital input and output, and the like. The method has strong logic calculation processing capacity, and can simultaneously execute real-time processing of various tasks in parallel under the support of a high-level operating system. In cooperation with this, the system may further have accelerated computing capabilities in specific fields such as image and video processing capability, digital signal processing capability, and neural network inference computation capability. The system has the function of a communication gateway, bears the function of a vehicle-mounted Ethernet backbone network switch, and has sufficient Ethernet or CAN interfaces which are directly connected with other edge control units through communication interfaces.
The edge control unit is a sensing and executing unit in the architecture, and comprises: and carrying abundant sensing driving and communication functional interfaces including CAN, LIN, vehicle-mounted Ethernet, analog and digital input/output driving and the like. The system has certain logic calculation processing capacity, can adopt an embedded real-time operating system, and is responsible for collecting state information of the controlled hardware, sending the state information to the central calculation unit, and carrying out real-time reliable control on the controlled hardware according to the instruction of the central calculation unit. The method has a limited message forwarding function and can forward a limited number of communication messages to adjacent nodes.
Therefore, through the mutual operation detection of the central computing unit and the edge control unit and the operation detection of the central computing unit and the edge control unit and other edge control units respectively, the quick and efficient fault detection can be realized, any normal operation function cannot be influenced, the time consumption for maintenance and the like caused by the fact that faults cannot be found in time and the like cannot occur is long, the maintenance cost is high, the vehicle-mounted control equipment with different functions and different suppliers can be uniformly adapted to the vehicle-mounted framework corresponding to the central computing unit, and the efficient operation of each function is realized.
As shown in fig. 2, an embodiment of the present disclosure provides a vehicle-mounted operation detection method, which may include steps S210 to S220. In step S210, an operation failure of the central computing unit is detected according to each edge control unit. Step S220, detecting the operation faults of each edge control unit by combining a central computing unit; the operation faults comprise a fault of a central computing unit, a fault of an edge control unit, a fault between the central computing unit and the edge control unit and a fault between edge control units. Wherein the heartbeat signal includes respective non-duplicate IDs of the sender and receiver of the heartbeat signal and a cycle count signal for indicating an activity state.
The specific step S210 detects an operation failure of the central computing unit according to each edge control unit.
In some embodiments, the central computing unit and the edge control units periodically send a detection heartbeat signal, and each edge control unit and its neighboring edge control unit also periodically send a detection heartbeat signal, so that whether the sender and receiver of the heartbeat signal are in an active state can be detected through the heartbeat signal. In the embodiment of the present description, the central computing unit of the vehicle-mounted control system may receive heartbeat information of each edge control unit, and if the active states of the nodes of each edge control unit are all valid, it is determined that the entire vehicle-mounted control system is operating normally, and no fault occurs.
In some embodiments, the central computing unit is determined to be active as long as a properly functioning edge control unit detects that the central computing unit is functioning properly. In some embodiments, whether the central computing unit normally operates is detected through the redundancy design of the edge control units, so that the efficiency and accuracy of fault detection of the whole system are improved, and the efficient operation of the vehicle-mounted control system is ensured. The central computing unit may determine whether it is malfunctioning based on the edge control units operating properly. If the central computing unit can receive the heartbeat signal of each edge control unit and the adjacent node edge control unit of each normally-running edge control unit also detects that the central computing unit is in an active state, the central computing unit is determined to be in a normal running state. In other embodiments, if all the normally operating edge control units cannot receive the heartbeat signal sent by the central computing unit, it is determined that the central computing unit is failed, and if all the adjacent normally operating edge control units detect that the central computing unit is in an inactive state, it is determined that the central computing unit is failed.
Step S220, the central computing unit is combined to detect the operation faults of all edge control units; the operation faults comprise a fault of a central computing unit, a fault of an edge control unit, a fault between the central computing unit and the edge control unit and a fault between the edge control units.
In particular, the central computing unit in conjunction with normal operation can detect operational failures of the various edge control units. In some embodiments, to ensure the accuracy of the detection, at least 2 units that operate normally are employed; such as at least one normally operating edge control unit and a normally operating central computing unit or 2 normally operating edge control units to efficiently detect an operational failure. Different failure states in the system can be determined through the operation detection of the vehicle-mounted architecture, wherein the failure states comprise failure of a central computing unit, failure of an edge control unit, failure of a communication link between the central computing unit and the edge control unit, failure of a communication link of two edge control unit units and the like. And then different measures are taken for the nodes in the failure state according to the operation detection.
The operation detection process is realized by combining the vehicle-mounted control system shown in fig. 1, and the operation detection of the central computing unit and the edge control unit is realized according to some normally-operated edge control units or central computing units. The vehicle-mounted control system provided by the embodiment of the specification realizes a high-efficiency and convenient fault detection mode by vehicle-mounted detection in the overall structure. In the prior art, due to the problem of adaptation of each vehicle-mounted control device and a main processor, operation detection is complex and tedious, and efficient and convenient detection of the embodiment of the specification cannot be realized.
In some embodiments, detecting an operational failure of the central computing unit from each edge control unit comprises: all the normally-running edge control units cannot receive heartbeat information sent by the central computing unit, and if the central computing unit is detected to be in an inactive state by the adjacent normally-running edge control units, determining that the central computing unit is invalid; the heartbeat information comprises an identifier of the edge control unit, an identifier of the central computing unit and a cycle count signal representing the activity state. In the embodiment, the heartbeat signal is adopted to realize that the occupation of the communication bandwidth by the fault detection is little
Specifically, if all the normally operating edge control units in the system cannot receive the heartbeat signal sent by the central computing unit, and the central computing unit is detected to be in an inactive state between adjacent normally operating edge control units, it is determined that the central computing unit is out of service. The normal operation edge control unit is indicated as that the edge control unit, the central computing unit and the adjacent edge control units are in normal operation state. The heartbeat signal comprises self identification of each unit of the vehicle-mounted control system and a count value accumulated in a circulating mode. The cycle count value is used to indicate an active state, such as adding 1 to the cycle count value in each heartbeat signal in the active state. The activity state comprises an activity state determined between the central computing unit and the edge control unit and an activity state determined between the adjacent edge control units.
In some embodiments, the central computing unit and the edge control unit determine whether the node of the sender of the heartbeat packet is in an active state by verifying that the ID matches and the cycle count value changes. In other embodiments, both the edge control unit and the other edge control unit determine whether the node of the sender of the heartbeat packet is in an active state by verifying that the ID identifiers match and the cycle count value changes. In some embodiments, whether the central computing unit and the edge control unit or the two edge control units determine that the sending node is in the inactive state at the current time according to the heartbeat signal, if the start time delay determination or the cycle value thereof is not changed, it is determined that the relevant node is in the inactive state. In some embodiments, the inactivity state is finalized as the on time exceeds a certain time threshold or the cycle count value exceeds a preset threshold before the joint node is finalized as the inactivity state.
With reference to fig. 1, if none of the edge control unit B, the edge control unit C, and the edge control unit D can receive the heartbeat information sent by the central computing unit a, and both the edge control unit C and the edge control unit D of the node adjacent to the edge control unit B detect that the central computing unit a is in an inactive state, it is determined that the central computing unit is in a failure and the entire system is in an uncontrollable state. In some embodiments, the edge control units may transmit information or the like according to a predefined contingency scheme upon failure of the central computing unit.
Under the normal operation state of the central computing unit, whether each edge control unit normally operates is detected by combining the central computing unit, and the method comprises the following steps:
the central computing unit detects a heartbeat signal of a first edge control unit which normally runs, the first edge control unit detects that a second edge control unit adjacent to the first edge control unit is in an inactive state, and if the central computing unit detects that the second edge control unit is in an active state, the central computing unit determines that a communication link between the first edge control unit and the second edge control unit fails; or, the central computing unit detects a first edge control unit which normally operates, the first edge control unit detects that a second edge control unit adjacent to the first edge control unit is in an inactive state, and the central computing unit cannot detect a heartbeat signal of the second edge control unit, and then determines that the second edge control unit fails.
Specifically referring to fig. 3, when the central computing unit a receives the heartbeat signals of the edge control unit B and the edge control unit C, respectively, the central computing unit a detects the heartbeat signal of the edge control unit B to indicate that the edge control unit B is in an active state, the central computing unit a detects the heartbeat signal of the edge control unit C to indicate that the edge control unit C is in an active state, but the edge control unit B receives the heartbeat signal of the edge control unit C to indicate that the edge control unit C is in an inactive state. And if the edge control unit B and the edge control unit C are adjacent edge control nodes, determining that a communication link between the edge control unit B and the edge control unit C is invalid. At the moment, the control of the central computing unit and each edge control unit is basically not influenced, and the full-function operation of the whole system can be realized. The user may be alerted to a failure of the communication link between edge control unit C and edge control unit B by a visual alert.
Or, when the central computing unit a receives the heartbeat signals of the edge control unit B and the edge control unit C, respectively, the central computing unit a detects the heartbeat signal of the edge control unit B to indicate that the edge control unit B is in an active state, the central computing unit a detects the heartbeat signal of the edge control unit C to indicate that the edge control unit C is in an inactive state, and the edge control unit B receives the heartbeat signal of the edge control unit C to indicate that the edge control unit C is also in an inactive state. And if the edge control unit B and the edge control unit C are adjacent edge control nodes, determining that the node of the edge control unit C is invalid.
In some embodiments, the on-board operation detection method further comprises: determining at least 2 neighboring edge control units that are operating normally; correspondingly, the detecting, in combination with the central computing unit, the operation failure of each edge control unit includes:
if the central computing unit cannot detect the heartbeat signal of a first edge control unit, and a second edge control unit and a third edge control unit which are adjacent to the first edge control unit can both detect that the first edge control unit is in an inactive state and the central computing unit is in an active state, determining that the first edge control unit fails; or, the central computing unit cannot detect a heartbeat signal of a first edge control unit, and if a second edge control unit and a third edge control unit adjacent to the first edge control unit detect that the first edge control unit is in an active state and the central computing unit is in an active state, it is determined that communication between the central computing unit and the first edge control unit is failed.
As shown in fig. 1, when the central computing unit a cannot receive the heartbeat signal of the edge control unit B, but the edge control unit C adjacent to the edge control unit B may receive the heartbeat signal of the edge control unit B, and the heartbeat signal indicates that the edge control unit B is in the active state, the edge control unit D adjacent to the edge control unit B may also receive the heartbeat signal of the edge control unit B, and indicates that the edge control unit B is in the active state, and the edge control unit C and the edge control unit D also indicate that the central computing unit a is in the active state, it is determined that the communication link between the central computing unit a and the edge control unit B is interrupted. At this time, the central computing unit a should send out routing messages to the edge control units C and D adjacent to the edge control unit B, and the edge control units C and D route and forward the routing messages to the node B of the edge control unit B. The routing packet may enable the edge control unit node B to maintain a minimum security function operating state.
Or, when the central computing unit a cannot receive the heartbeat information of the edge control unit B, and the edge control unit C and the edge control unit D adjacent to the edge control unit B also both indicate that the edge control unit B is in an inactive state, but the central computing unit a is in an active state, it indicates that the edge control unit B is failed.
The central computing unit in the embodiment of the specification can integrate hardware devices with different design sources and models, and integrate a large number of control units on the vehicle to form a brain for reliable and safe operation of the whole vehicle. Through a redundant and perfect topological structure, mutual monitoring among all nodes can be realized, so that faults existing in the whole system can be efficiently and accurately detected, and monitoring special hardware does not need to be added independently in the operation process of the whole system. Even if faults exist in the whole system, other normal operation functions cannot be influenced, and the implementation of other normal operation functions can be realized.
In some embodiments, if a communication link between an edge control unit and the central computing unit fails, the edge control unit operates at a predetermined safe power according to the routing message system.
Specifically, when detecting that the communication connection between an edge control unit and the central computing unit is failed, the failed edge control unit is controlled by the minimum safety function, and the message is forwarded to the central computing unit by routing with the adjacent node. Thereby ensuring that the edge control unit communicates indirectly with the central computing unit.
In some embodiments, a fault level is determined based on the operational fault so that the central computing unit or edge control unit takes a corresponding action.
In some embodiments, the central computing unit is determined to be at a highest failure level if it fails;
or if one edge control unit fails or communication between the central computing unit and the edge control unit fails, determining that the fault level is a second fault level; or, if the communication between the edge control unit and the adjacent edge control unit fails, determining that the communication is a first failure level. Some embodiments may indicate a more severe fault condition in some embodiments, and some embodiments may indicate a slight fault condition just as conversely a higher fault level.
Specifically, if the central computing unit fails, the central computing unit determines that the central computing unit is in the highest fault level, that is, the core control of the vehicle-mounted control system fails to realize a plurality of important functions, because if the central computing unit fails, it determines that the vehicle-mounted control system is in the highest fault level, and a countermeasure should be taken in time.
If one edge control unit fails, the whole control system lacks partial functions but does not affect other normally operating functions, so that the failure is lower in controllability compared with the failure of the central computing unit, and the failure of one edge control unit is confirmed to be in a second failure level. In addition, if the communication between the central computing unit and the edge control unit has a link failure, the control of the central computing unit and each edge computing unit is basically not affected at this time, and the system can still be in a full-function operation state, so that the failure level is determined to be the second failure level. In some embodiments, if the communication between an edge control unit and its neighboring edge control unit fails, it only has a slight effect on the redundancy design and is determined as the first failure level.
The vehicle-mounted control system can determine the fault grade according to the operation faults of each operation unit, so that the countermeasure can be flexibly adopted, and the whole normal operation of the vehicle-mounted control system is ensured.
Fig. 4 is a schematic structural diagram of an on-vehicle operation detection system provided in an embodiment of the present specification, and as shown in fig. 4, the system 40 includes: a processor 41, memory 42 and computer programs; wherein the memory 42 is used for storing said computer program and may also be a flash memory (flash). The computer program is, for example, an application program, a functional module, or the like that implements the above method.
A processor 41 for executing the computer program stored in the memory to implement the steps performed by the apparatus in the above method. Reference may be made in particular to the description relating to the preceding method embodiment.
Alternatively, the memory 42 may be separate or integrated with the processor 41.
When the memory 42 is a device independent of the processor 41, the apparatus may further include:
a bus 43 for connecting the memory 42 and the processor 41.
The present invention also provides a readable storage medium, in which a computer program is stored, and the computer program is used for implementing the method provided by the above-mentioned various embodiments when being executed by a processor.
The readable storage medium may be a computer storage medium or a communication medium. Communication media includes any medium that facilitates transfer of a computer program from one place to another. Computer storage media may be any available media that can be accessed by a general purpose or special purpose computer. For example, a readable storage medium is coupled to the processor such that the processor can read information from, and write information to, the readable storage medium. Of course, the readable storage medium may also be an integral part of the processor. The processor and the readable storage medium may reside in an Application Specific Integrated Circuits (ASIC). Additionally, the ASIC may reside in user equipment. Of course, the processor and the readable storage medium may also reside as discrete components in a communication device. The readable storage medium may be a read-only memory (ROM), a random-access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
The present invention also provides a program product comprising execution instructions stored in a readable storage medium. The at least one processor of the device may read the execution instructions from the readable storage medium, and the execution of the execution instructions by the at least one processor causes the device to implement the methods provided by the various embodiments described above.
In the above embodiments of the apparatus, it should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose processors, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.
The same and similar parts among the various embodiments in the present specification are referred to each other, and each embodiment focuses on differences from the other embodiments. In particular, for the product embodiments described later, since they correspond to the method, the description is simple, and the relevant points can be referred to the partial description of the system embodiments.
The above description is only for the specific embodiments of the present application, but the scope of the present application 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 application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. An in-vehicle control system, characterized by comprising:
the edge control units are respectively connected with the central computing unit through communication links to realize information transmission between every two edge control units;
each edge control unit is respectively corresponding to different vehicle-mounted control equipment;
the central computing unit and the edge control unit are used for carrying out mutual operation detection, and the central computing unit and the edge control unit are also respectively used for carrying out operation detection with other edge control units so as to determine the operation faults existing in the vehicle-mounted control system.
2. An on-vehicle operation detection method characterized by employing the on-vehicle control system according to claim 1, comprising:
detecting an operation fault of the central computing unit according to each edge control unit;
and/or, detecting the operation fault of each edge control unit by combining the central computing unit; the operation faults comprise a fault of a central computing unit, a fault of an edge control unit, a fault between the central computing unit and the edge control unit and a fault between edge control units.
3. The on-vehicle operation detection method according to claim 2, wherein detecting an operation failure of the central computing unit from each edge control unit includes:
all the normally-running edge control units cannot receive the heartbeat signals sent by the central computing unit, and if the central computing unit is detected to be in an inactive state between the adjacent normally-running edge control units, the central computing unit is determined to be invalid; wherein the heartbeat signal includes an identification of the edge control unit, an identification of the central computing unit, and a cycle count signal indicative of the activity state.
4. The on-board operation detection method according to claim 2, wherein the detecting, in conjunction with the central computing unit, an operation failure of each edge control unit includes:
the central computing unit detects a heartbeat signal of a first edge control unit which normally runs, the first edge control unit detects that a second edge control unit adjacent to the first edge control unit is in an inactive state, and if the central computing unit detects that the second edge control unit is in an active state, the central computing unit determines that a communication link between the first edge control unit and the second edge control unit fails;
or, the central computing unit detects a first edge control unit which normally operates, the first edge control unit detects that a second edge control unit adjacent to the first edge control unit is in an inactive state, and the central computing unit cannot detect a heartbeat signal of the second edge control unit, and then determines that the second edge control unit fails.
5. The vehicle-mounted operation detection method according to claim 2, characterized by further comprising: determining at least 2 neighboring edge control units that are operating normally;
correspondingly, the detecting, in combination with the central computing unit, the operation failure of each edge control unit includes:
if the central computing unit cannot detect a heartbeat signal of a first edge control unit, and a second edge control unit and a third edge control unit which are adjacent to the first edge control unit detect that the first edge control unit is in an inactive state and the central computing unit is in an active state, determining that the first edge control unit fails;
or, the central computing unit cannot detect a heartbeat signal of a first edge control unit, and if a second edge control unit and a third edge control unit adjacent to the first edge control unit detect that the first edge control unit is in an active state and the central computing unit is in an active state, it is determined that communication between the central computing unit and the first edge control unit is failed.
6. The on-vehicle operation detection method according to claim 4 or 5, characterized by further comprising:
and if the communication connection between the fourth edge control unit and the central computing unit fails, the fourth edge control unit operates at a preset safe power according to the routing message system.
7. The vehicle-mounted operation detection method according to claim 2, characterized by further comprising:
and determining a fault level according to the operation fault so that the central computing unit or the edge control unit can take corresponding measures.
8. The vehicle-mounted operation detection method according to claim 7, characterized by further comprising:
if the central computing unit fails, determining the central computing unit as the highest failure level;
or if one edge control unit fails or communication between the central computing unit and the edge control unit fails, determining that the fault level is a second fault level;
or, if the communication between the edge control unit and the adjacent edge control unit fails, determining that the communication is a first failure level.
9. An in-vehicle control system, characterized by comprising: a memory, a processor and a computer program, the computer program being stored in the memory, the processor running the computer program to perform the in-vehicle operation detection method according to any one of claims 2 to 8.
10. A readable storage medium, in which a computer program is stored, which, when being executed by a processor, is adapted to carry out the in-vehicle operation detection method according to any one of claims 2 to 8.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211392181.8A CN115617020A (en) | 2022-11-08 | 2022-11-08 | Vehicle-mounted control system, vehicle-mounted operation detection method, system and storage medium |
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| CN202211392181.8A CN115617020A (en) | 2022-11-08 | 2022-11-08 | Vehicle-mounted control system, vehicle-mounted operation detection method, system and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116279556A (en) * | 2023-03-03 | 2023-06-23 | 北京辉羲智能科技有限公司 | Safe and intelligent driving system for reminding driver of taking over |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116279556A (en) * | 2023-03-03 | 2023-06-23 | 北京辉羲智能科技有限公司 | Safe and intelligent driving system for reminding driver of taking over |
| CN116279556B (en) * | 2023-03-03 | 2024-04-02 | 北京辉羲智能科技有限公司 | Safe and intelligent driving system for reminding driver of taking over |
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