CN116520675A - Vehicle redundancy control method, system, electronic device and readable storage medium - Google Patents
Vehicle redundancy control method, system, electronic device and readable storage medium Download PDFInfo
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Abstract
The invention relates to the technical field of vehicle controllers and discloses a vehicle redundancy control method, a system, electronic equipment and a readable storage medium.
Description
Technical Field
The present invention relates to the field of vehicle controllers, and in particular, to a vehicle redundancy control method, a system, an electronic device, and a readable storage medium.
Background
With the continuous development of intelligent automobiles, a vehicle-mounted controller (ECU) generates vehicle control signals through a vehicle algorithm of the ECU to provide references for vehicle running and information interaction, and the ECU becomes an indispensable part of vehicle terminals.
However, because the redundancy mechanism is introduced and the vehicle algorithm is verified relatively independently, the redundancy mechanism and the vehicle algorithm are required to be executed respectively, the execution efficiency of the redundancy mechanism and the vehicle algorithm is low, the deployment period and the verification period of the vehicle algorithm are long, the improvement efficiency of the safety of the vehicle algorithm is low, and the user experience requirement cannot be met.
Disclosure of Invention
The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview, and is intended to neither identify key/critical elements nor delineate the scope of such embodiments, but is intended as a prelude to the more detailed description that follows.
In view of the above-mentioned drawbacks of the prior art, the present invention discloses a vehicle redundancy control method, system, electronic device and readable storage medium, so as to accelerate the improvement efficiency of vehicle safety.
The invention provides a vehicle redundancy control method, which is applied to a vehicle terminal, wherein the vehicle terminal comprises a plurality of regional controllers, and the method comprises the following steps: acquiring a vehicle target algorithm, wherein the vehicle target algorithm has a current version and a test version; setting the current version of the vehicle target algorithm in a first controller, and setting the test version of the vehicle target algorithm in a second controller, wherein the first controller and the second controller are different regional controllers; if the first controller is in a normal running state, vehicle control information for controlling the vehicle terminal is generated by using a vehicle target algorithm of the first controller, and an algorithm test result corresponding to the test version is determined by using a vehicle target algorithm of the second controller; and if the first controller is in a fault state, generating vehicle control information for controlling the vehicle terminal by using a vehicle target algorithm of the second controller.
Optionally, before the vehicle target algorithm is acquired, the method further includes: acquiring a plurality of vehicle control algorithms and determining algorithm functions of each vehicle control algorithm; a safety-related algorithm and a shared information algorithm are determined from the original vehicle algorithm according to the algorithm function, wherein the vehicle objective algorithm includes at least a portion of the safety-related algorithm.
Optionally, the method further comprises: the vehicle terminal further comprises a vehicle-mounted computer, wherein the vehicle-mounted computer comprises a central computer and/or the experience computer; the shared information algorithm is preset in the area controller; and generating a shared information signal by using the area controller, and transmitting the shared information signal to the vehicle-mounted computer.
Optionally, the first controller and the second controller are determined by: the vehicle terminal further comprises vehicle actuators, and each area controller is respectively connected with at least one part of the vehicle actuators; determining an underhung actuator corresponding to the vehicle target algorithm from the vehicle actuators, and determining data transmission distances between the underhung actuator and each regional controller respectively; and determining a first controller and a second controller from the regional controllers according to the data transmission distance.
Optionally, the method further comprises: and responding to the vehicle control information, and sending the vehicle control information to an under-hook actuator corresponding to the vehicle target algorithm, so that the under-hook actuator executes a vehicle control instruction corresponding to the vehicle control information.
Optionally, determining an algorithm test result corresponding to the test version by using a vehicle target algorithm of the second controller includes: generating vehicle control information through a vehicle target algorithm of the second controller; storing the vehicle control information in the second controller to obtain a storage record and/or analyzing the vehicle control information to obtain an information analysis result; and determining the stored record and/or the information analysis result as an algorithm test result corresponding to the test version.
Optionally, the method further comprises: and if the vehicle target algorithm does not have the test version, determining the current version as the test version of the vehicle target algorithm.
The invention provides a vehicle redundancy control system, which is applied to a vehicle terminal, wherein the vehicle terminal comprises a plurality of regional controllers, and the system comprises: the system comprises an acquisition module, a test module and a test module, wherein the acquisition module is used for acquiring a vehicle target algorithm, and the vehicle target algorithm is provided with a current version and a test version; the setting module is used for setting the current version of the vehicle target algorithm in a first controller and setting the test version of the vehicle target algorithm in a second controller, wherein the first controller and the second controller are different regional controllers; the first control module is used for generating vehicle control information for controlling the vehicle terminal by using a vehicle target algorithm of the first controller if the first controller is in a normal running state, and determining an algorithm test result corresponding to the test version by using a vehicle target algorithm of the second controller; and the second control module is used for generating vehicle control information for controlling the vehicle terminal by using a vehicle target algorithm of the second controller if the first controller is in a fault state.
The invention provides an electronic device, comprising: a processor and a memory; the memory is used for storing a computer program, and the processor is used for executing the computer program stored in the memory so as to enable the electronic equipment to execute the method.
The present invention provides a computer-readable storage medium having stored thereon a computer program: the computer program, when executed by a processor, implements the method described above.
The invention has the beneficial effects that:
the method comprises the steps of obtaining a current version and a test version of a vehicle target algorithm, setting the current version of the vehicle target algorithm on a first controller, and setting the test version of the vehicle target algorithm on a second controller, so that the vehicle target algorithm is carried out through the first controller when the first controller is in a normal running state, the algorithm test is carried out through the second controller, and the vehicle target algorithm is carried out through the second controller when the first controller is in a fault state. In this way, by setting the vehicle target algorithms of the current version and the test version in the controllers of different areas respectively, a redundancy mechanism is introduced, so that the first controller and the second controller carry out the vehicle target algorithm in a redundancy way, and the first controller carries out the vehicle target algorithm and simultaneously carries out the algorithm test through the second controller, thereby realizing the common implementation of introducing the redundancy mechanism and testing the vehicle algorithm, reducing the deployment period and the verification period of the vehicle algorithm, and improving the safety improvement efficiency of the vehicle algorithm.
Drawings
Fig. 1 is a schematic view of a vehicle terminal according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for controlling redundancy of a vehicle according to an embodiment of the present invention;
FIG. 3 is a flow chart of another method for controlling redundancy of a vehicle according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a redundant control system for a vehicle in accordance with an embodiment of the present invention;
fig. 5 is a schematic diagram of an electronic device in an embodiment of the invention.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that, without conflict, the following embodiments and sub-samples in the embodiments may be combined with each other.
It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
In the following description, numerous details are set forth in order to provide a more thorough explanation of embodiments of the present invention, it will be apparent, however, to one skilled in the art that embodiments of the present invention may be practiced without these specific details, in other embodiments, well-known structures and devices are shown in block diagram form, rather than in detail, in order to avoid obscuring the embodiments of the present invention.
The terms first, second and the like in the description and in the claims of the embodiments of the disclosure and in the above-described figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe embodiments of the present disclosure. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion.
The term "plurality" means two or more, unless otherwise indicated.
In the embodiment of the present disclosure, the character "/" indicates that the front and rear objects are an or relationship. For example, A/B represents: a or B.
The term "and/or" is an associative relationship that describes an object, meaning that there may be three relationships. For example, a and/or B, represent: a or B, or, A and B.
As shown in fig. 1, an embodiment of the present disclosure provides a vehicle terminal including a zone controller 101, a vehicle-mounted computer 102, and a vehicle actuator 103;
the zone controller 101 includes a left front zone controller, a right front zone controller, and a rear zone controller, wherein each zone controller is composed of a controller algorithm, a communication module (service and signal conversion module); the regional controllers are connected with the vehicle-mounted computer through a DDS (data distribution service) protocol mode, are also connected with each other through a DDS protocol mode, and are also connected with the vehicle executor through a communication module in a CAN (controller area network) bus mode; the zone controller is used for generating vehicle signals such as vehicle control information and shared information signals through a controller algorithm and providing information interaction and control output to the vehicle-mounted computer and/or the vehicle actuator;
the vehicle-mounted computer 102 comprises a central computer and an experience computer, wherein the central computer is used for being responsible for the calculation of large calculation force demands on the whole vehicle, such as vision processing and sensor fusion; the experience computer is used for processing the content which is directly interacted with the user on the whole vehicle, such as man-machine interaction;
the vehicle actuator 103 is configured to execute vehicle control information to control a vehicle terminal.
As shown in fig. 2, an embodiment of the present disclosure provides a vehicle redundancy control method, which is characterized by including:
step S201, a vehicle target algorithm is obtained;
the vehicle target algorithm has a current version and a test version;
step S202, setting a current version of the vehicle target algorithm in a first controller, and setting a test version of the vehicle target algorithm in a second controller;
the first controller and the second controller are different area controllers;
step S203, if the first controller is in a normal running state, generating vehicle control information for controlling the vehicle terminal by using a vehicle target algorithm of the first controller, and determining an algorithm test result corresponding to the test version by using a vehicle target algorithm of the second controller;
in step S204, if the first controller is in a failure state, vehicle control information for controlling the vehicle terminal is generated by using the vehicle target algorithm of the second controller.
By adopting the vehicle redundancy control method provided by the embodiment of the disclosure, the current version of the vehicle target algorithm is set in the first controller, the current version of the vehicle target algorithm is set in the second controller, and the test version of the vehicle target algorithm is set in the first controller, so that the vehicle target algorithm is carried out by the first controller, the algorithm test is carried out by the second controller, and the vehicle target algorithm is carried out by the second controller when the first controller is in a normal running state. In this way, by setting the vehicle target algorithms of the current version and the test version in the controllers of different areas respectively, a redundancy mechanism is introduced, so that the first controller and the second controller carry out the vehicle target algorithm in a redundancy way, and the first controller carries out the vehicle target algorithm and simultaneously carries out the algorithm test through the second controller, thereby realizing the common implementation of introducing the redundancy mechanism and testing the vehicle algorithm, reducing the deployment period and the verification period of the vehicle algorithm, and improving the safety improvement efficiency of the vehicle algorithm.
Optionally, before the vehicle target algorithm is acquired, the method further includes: acquiring a plurality of vehicle control algorithms and determining algorithm functions of each vehicle control algorithm; the safety-related algorithm and the shared information algorithm are determined from the original vehicle algorithm according to an algorithm function, wherein the vehicle target algorithm includes at least a portion of the safety-related algorithm.
In some embodiments, the safety-related algorithm is related to vehicle functions such as vehicle power, vehicle automatic driving, vehicle power-on state and the like, and a redundancy mechanism is introduced to the safety-related algorithm to avoid the occurrence of dangerous personal safety conditions caused by failure and malfunction of a single controller.
In some embodiments, the shared information algorithm is related to vehicle functions such as visual processing, sensor signal processing, man-machine interaction, information sharing and the like, and is used for improving the vehicle use experience of a user, reducing redundancy mechanisms and reliability tests on the shared information algorithm, and further reducing cost.
Optionally, the method further comprises: if the test version does not exist in the vehicle target algorithm, the current version is determined to be the test version of the vehicle target algorithm.
Optionally, the method further comprises: the vehicle terminal also comprises a vehicle-mounted computer, wherein the vehicle-mounted computer comprises a central computer and/or an experience computer; presetting a shared information algorithm in a regional controller; the shared information signal is generated by the zone controller and transmitted to the vehicle-mounted computer.
Optionally, the first controller and the second controller are determined by: the vehicle terminal also comprises vehicle actuators, and each area controller is respectively connected with at least one part of the vehicle actuators; determining an underhung actuator corresponding to a vehicle target algorithm from vehicle actuators, and determining data transmission distances between the underhung actuator and each area controller respectively; the first controller and the second controller are determined from the zone controllers according to the data transmission distance.
In some embodiments, the vehicle target algorithm deployment for the current version and the test version is not fixed, but is deployed on a nearby basis according to algorithm functionality and the underslung controller.
Optionally, the method further comprises: and responding to the vehicle control information, and sending the vehicle control information to an underhung actuator corresponding to the vehicle target algorithm, so that the underhung actuator executes a vehicle control instruction corresponding to the vehicle control information.
In some embodiments, in response to the vehicle control information, the vehicle control information is interacted with the communication module, and the vehicle control information is issued to the under-hook actuator through the CAN bus.
In some embodiments, the first controller is determined to be in a fault state by: monitoring the first controller by the second controller; and if the first controller has the conditions of communication failure, limited signal output and abnormal reset of the controller, determining that the first controller is in a failure state.
In some embodiments, if the first controller is in a fault state, the communication module is disabled and the first controller is disabled from outputting a signal over the CAN bus.
Optionally, determining, by using the vehicle target algorithm of the second controller, an algorithm test result corresponding to the test version, including at least one of: generating vehicle control information through a vehicle target algorithm of the second controller; storing the vehicle control information in a second controller to obtain a storage record and/or analyzing the vehicle control information to obtain an information analysis result; and determining the stored record and/or the information analysis result as an algorithm test result corresponding to the test version.
In some embodiments, a shadow mode is set in the second controller, where the shadow mode is used to generate vehicle control information through a vehicle target algorithm of the second controller, store the vehicle control information in the second controller, analyze the vehicle control information to obtain an information analysis result, and do not actually output the vehicle control information.
As shown in conjunction with fig. 3, an embodiment of the present disclosure provides a vehicle redundancy control method, including:
step S301, a first controller and a second controller are set in the vehicle terminal in advance;
the first controller is provided with a current version of the vehicle target algorithm, and the second controller is provided with a test version of the vehicle target algorithm;
step S302, if the vehicle terminal is in a power-on state, monitoring the first controller through the second controller;
step S303, judging whether the first controller is in a normal working state, if so, jumping to step S304 and step S306, and if not, jumping to step S308 and step S309;
step S304, generating vehicle control information for controlling the vehicle terminal by using the vehicle target algorithm of the first controller, and jumping to step S305;
step S305, the vehicle control information is sent to the vehicle controller through the CAN bus.
Step S306, the communication module of the second controller is forbidden to operate, the second controller is forbidden to output signals through the CAN bus, and the step S307 is skipped;
step S307, determining an algorithm test result corresponding to the test version by using the vehicle target algorithm of the second controller.
Step S308, the communication module of the first controller is prohibited from running, and the first controller is prohibited from outputting signals through the CAN bus.
Step S309, generating vehicle control information for controlling the vehicle terminal by using the vehicle target algorithm of the second controller, and jumping to step S310;
step S310, the vehicle control information is sent to the vehicle controller through the CAN bus.
By adopting the vehicle redundancy control method provided by the embodiment of the disclosure, the current version of the vehicle target algorithm is set in the first controller, the current version of the vehicle target algorithm is set in the second controller, and the test version of the vehicle target algorithm is set in the first controller, so that the vehicle target algorithm is carried out by the first controller, the algorithm test is carried out by the second controller, and the vehicle target algorithm is carried out by the second controller when the first controller is in a normal running state. In this way, by setting the vehicle target algorithms of the current version and the test version in the controllers of different areas respectively, a redundancy mechanism is introduced, so that the first controller and the second controller carry out the vehicle target algorithm in a redundancy way, and the first controller carries out the vehicle target algorithm and simultaneously carries out the algorithm test through the second controller, thereby realizing the common implementation of introducing the redundancy mechanism and testing the vehicle algorithm, reducing the deployment period and the verification period of the vehicle algorithm, and improving the safety improvement efficiency of the vehicle algorithm.
As shown in conjunction with fig. 4, an embodiment of the present disclosure provides a vehicle redundancy control system, including an acquisition module 401, a setting module 402, a first control module 403, and a second control module 404. The obtaining module 401 is configured to obtain a vehicle target algorithm, where the vehicle target algorithm has a current version and a test version; the setting module 402 is configured to set a current version of a vehicle target algorithm in a first controller and a test version of the vehicle target algorithm in a second controller, where the first controller and the second controller are different area controllers; the first control module 403 is configured to generate vehicle control information for controlling the vehicle terminal by using a vehicle target algorithm of the first controller if the first controller is in a normal running state, and determine an algorithm test result corresponding to the test version by using a vehicle target algorithm of the second controller; the second control module 404 is configured to generate vehicle control information for controlling the vehicle terminal using a vehicle target algorithm of the second controller if the first controller is in a failure state.
By adopting the vehicle redundancy control method provided by the embodiment of the disclosure, the current version of the vehicle target algorithm is set in the first controller, the current version of the vehicle target algorithm is set in the second controller, and the test version of the vehicle target algorithm is set in the first controller, so that the vehicle target algorithm is carried out by the first controller, the algorithm test is carried out by the second controller, and the vehicle target algorithm is carried out by the second controller when the first controller is in a normal running state. In this way, by setting the vehicle target algorithms of the current version and the test version in the controllers of different areas respectively, a redundancy mechanism is introduced, so that the first controller and the second controller carry out the vehicle target algorithm in a redundancy way, and the first controller carries out the vehicle target algorithm and simultaneously carries out the algorithm test through the second controller, thereby realizing the common implementation of introducing the redundancy mechanism and testing the vehicle algorithm, reducing the deployment period and the verification period of the vehicle algorithm, and improving the safety improvement efficiency of the vehicle algorithm.
Fig. 5 shows a schematic diagram of a computer system suitable for use in implementing the electronic device of the embodiments of the present application. It should be noted that, the computer system 500 of the electronic device shown in fig. 5 is only an example, and should not impose any limitation on the functions and the application scope of the embodiments of the present application.
As shown in fig. 5, the computer system 500 includes a central processing unit (CentralProcessingUnit, CPU) 501, which can perform various appropriate actions and processes, such as performing the methods in the above-described embodiments, according to a program stored in a Read-only memory (ROM) 502 or a program loaded from a storage section 508 into a random access memory (RandomAccessMemory, RAM) 503. In the RAM503, various programs and data required for the system operation are also stored. The CPU501, ROM502, and RAM503 are connected to each other through a bus 504. An Input/Output (I/O) interface 505 is also connected to bus 504.
The following components are connected to the I/O interface 505: an input section 506 including a keyboard, a mouse, and the like; an output portion 507 including a cathode ray tube (CathodeRayTube, CRT), a liquid crystal display (LiquidCrystalDisplay, LCD), and the like, a speaker, and the like; a storage portion 508 including a hard disk and the like; and a communication section 509 including a network interface card such as a LAN (local area network) card, a modem, or the like. The communication section 509 performs communication processing via a network such as the internet. The drive 510 is also connected to the I/O interface 505 as needed. A removable medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 510 as needed so that a computer program read therefrom is mounted into the storage section 508 as needed.
In particular, according to embodiments of the present application, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication portion 509, and/or installed from the removable media 511. When executed by a Central Processing Unit (CPU) 501, performs the various functions defined in the system of the present application.
It should be noted that, the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an Erasable programmable read-only memory (EraseR ProgrammableReadOnlyMemory, EPROM), a flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with a computer-readable computer program embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. A computer program embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
The disclosed embodiments also provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements any of the methods of the present embodiments.
The computer readable storage medium in the embodiments of the present disclosure may be understood by those of ordinary skill in the art: all or part of the steps for implementing the method embodiments described above may be performed by computer program related hardware. The aforementioned computer program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.
The electronic device disclosed in this embodiment includes a processor, a memory, a transceiver, and a communication interface, where the memory and the communication interface are connected to the processor and the transceiver and perform communication therebetween, the memory is used to store a computer program, the communication interface is used to perform communication, and the processor and the transceiver are used to run the computer program, so that the electronic device performs each step of the above method.
In this embodiment, the memory may include a Random Access Memory (RAM), and may further include a non-volatile memory (non-volatile memory), such as at least one disk memory.
The processor may be a general-purpose processor, including a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a Network Processor (NP), etc.; but also Digital Signal Processors (DSP), application Specific Integrated Circuits (ASIC), field-Programmable GateArray, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
The above description and the drawings illustrate embodiments of the disclosure sufficiently to enable those skilled in the art to practice them. Other embodiments may involve structural, logical, electrical, process, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and sub-samples of some embodiments may be included in or substituted for portions and sub-samples of other embodiments. Moreover, the terminology used in the present application is for the purpose of describing embodiments only and is not intended to limit the claims. As used in the description of the embodiments and the claims, the singular forms "a," "an," and "the" (the) are intended to include the plural forms as well, unless the context clearly indicates otherwise. Similarly, the term "and/or" as used in this application is meant to encompass any and all possible combinations of one or more of the associated listed. In addition, when used in this application, the terms "comprises," "comprising," and/or "includes," and variations thereof, mean the presence of the stated sub-sample, integer, step, operation, element, and/or component, but do not exclude the presence or addition of one or more other sub-samples, integers, steps, operations, elements, components, and/or groups of these. Without further limitation, an element defined by the phrase "comprising one …" does not exclude the presence of other like elements in a process, method or apparatus comprising such elements. In this context, each embodiment may be described with emphasis on the differences from the other embodiments, and the same similar parts between the various embodiments may be referred to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method sections disclosed in the embodiments, the description of the method sections may be referred to for relevance.
Those of skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. The skilled person may use different methods for each particular application to achieve the described functionality, but such implementation should not be considered to be beyond the scope of the embodiments of the present disclosure. It will be clearly understood by those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again.
In the embodiments disclosed herein, the disclosed methods, articles of manufacture (including but not limited to devices, apparatuses, etc.) may be practiced in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of elements may be merely a logical functional division, and there may be additional divisions in actual implementation, e.g., multiple elements or components may be combined or integrated into another system, or some sub-samples may be omitted, or not performed. In addition, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form. The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to implement the present embodiment. In addition, each functional unit in the embodiments of the present disclosure may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. In the description corresponding to the flowcharts and block diagrams in the figures, operations or steps corresponding to different blocks may also occur in different orders than that disclosed in the description, and sometimes no specific order exists between different operations or steps. For example, two consecutive operations or steps may actually be performed substantially in parallel, they may sometimes be performed in reverse order, which may be dependent on the functions involved. Each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Claims (10)
1. A vehicle redundancy control method, characterized by being applied to a vehicle terminal including a plurality of zone controllers, comprising:
acquiring a vehicle target algorithm, wherein the vehicle target algorithm has a current version and a test version;
setting the current version of the vehicle target algorithm in a first controller, and setting the test version of the vehicle target algorithm in a second controller, wherein the first controller and the second controller are different regional controllers;
if the first controller is in a normal running state, vehicle control information for controlling the vehicle terminal is generated by using a vehicle target algorithm of the first controller, and an algorithm test result corresponding to the test version is determined by using a vehicle target algorithm of the second controller;
and if the first controller is in a fault state, generating vehicle control information for controlling the vehicle terminal by using a vehicle target algorithm of the second controller.
2. The method of claim 1, wherein prior to obtaining the vehicle target algorithm, the method further comprises:
acquiring a plurality of vehicle control algorithms and determining algorithm functions of each vehicle control algorithm;
a safety-related algorithm and a shared information algorithm are determined from the original vehicle algorithm according to the algorithm function, wherein the vehicle objective algorithm includes at least a portion of the safety-related algorithm.
3. The method according to claim 2, wherein the method further comprises:
the vehicle terminal further comprises a vehicle-mounted computer, wherein the vehicle-mounted computer comprises a central computer and/or the experience computer;
the shared information algorithm is preset in the area controller;
and generating a shared information signal by using the area controller, and transmitting the shared information signal to the vehicle-mounted computer.
4. The method of claim 1, wherein the first controller and the second controller are determined by:
the vehicle terminal further comprises vehicle actuators, and each area controller is respectively connected with at least one part of the vehicle actuators;
determining an underhung actuator corresponding to the vehicle target algorithm from the vehicle actuators, and determining data transmission distances between the underhung actuator and each regional controller respectively;
and determining a first controller and a second controller from the regional controllers according to the data transmission distance.
5. The method according to claim 4, wherein the method further comprises:
and responding to the vehicle control information, and sending the vehicle control information to an under-hook actuator corresponding to the vehicle target algorithm, so that the under-hook actuator executes a vehicle control instruction corresponding to the vehicle control information.
6. The method of any one of claims 1 to 5, wherein determining an algorithm test result corresponding to the test version using a vehicle target algorithm of the second controller comprises:
generating vehicle control information through a vehicle target algorithm of the second controller;
storing the vehicle control information in the second controller to obtain a storage record and/or analyzing the vehicle control information to obtain an information analysis result;
and determining the stored record and/or the information analysis result as an algorithm test result corresponding to the test version.
7. The method according to any one of claims 1 to 5, further comprising:
and if the vehicle target algorithm does not have the test version, determining the current version as the test version of the vehicle target algorithm.
8. A vehicle redundancy control system, characterized by being applied to a vehicle terminal including a plurality of zone controllers, comprising:
the system comprises an acquisition module, a test module and a test module, wherein the acquisition module is used for acquiring a vehicle target algorithm, and the vehicle target algorithm is provided with a current version and a test version;
the setting module is used for setting the current version of the vehicle target algorithm in a first controller and setting the test version of the vehicle target algorithm in a second controller, wherein the first controller and the second controller are different regional controllers;
the first control module is used for generating vehicle control information for controlling the vehicle terminal by using a vehicle target algorithm of the first controller if the first controller is in a normal running state, and determining an algorithm test result corresponding to the test version by using a vehicle target algorithm of the second controller;
and the second control module is used for generating vehicle control information for controlling the vehicle terminal by using a vehicle target algorithm of the second controller if the first controller is in a fault state.
9. An electronic device, comprising: a processor and a memory;
the memory is configured to store a computer program, and the processor is configured to execute the computer program stored in the memory, to cause the electronic device to perform the method according to any one of claims 1 to 7.
10. A computer-readable storage medium having stored thereon a computer program, characterized by:
the computer program implementing the method of any of claims 1 to 7 when executed by a processor.
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