CN116946042A - Vehicle control device - Google Patents
Vehicle control device Download PDFInfo
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- CN116946042A CN116946042A CN202310627596.7A CN202310627596A CN116946042A CN 116946042 A CN116946042 A CN 116946042A CN 202310627596 A CN202310627596 A CN 202310627596A CN 116946042 A CN116946042 A CN 116946042A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
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Abstract
The application provides a vehicle control device, comprising: a central whole-vehicle-domain controller and a regional control unit; the central whole-vehicle-domain controller comprises a multi-core heterogeneous control unit and a plurality of functional modules, each functional module correspondingly realizes a vehicle control function, each functional module is connected with the control unit, and each functional module is also connected with the corresponding regional control unit. The application provides a centralized architecture, wherein the control and calculation functions of each electronic control unit in the traditional architecture are centralized on the control unit, so that the intelligent whole vehicle is facilitated, the on-line upgrading of the whole vehicle is facilitated, the SOA requirement of the whole vehicle is expected to be met, meanwhile, the wiring harness of the whole vehicle is saved, and the wiring harness cost is reduced.
Description
Technical Field
The application relates to the technical field of vehicle control, in particular to a vehicle control device.
Background
With the rapid development of science and technology, automobiles become one of the vehicles mainly used when people travel. Along with the gradual improvement of the living standard of people, the requirements for automobiles are continuously improved when the automobile travels, and the automobiles are developing towards a more intelligent direction.
As the intelligent degree of the automobile is higher and higher, the control capability requirement on the automobile is also greatly improved. The single dispersed ECUs (electronic control units) in the existing distributed architecture can not meet the centralized demands in the aspects of running stability, reliability and the like.
Disclosure of Invention
Accordingly, an object of the present application is to provide a vehicle control device for overcoming the problems in the prior art.
In a first aspect, an embodiment of the present application provides a vehicle control apparatus, including: a central whole-vehicle-domain controller and a regional control unit; the central whole-vehicle-domain controller comprises a multi-core heterogeneous control unit and a plurality of functional modules, each functional module correspondingly realizes a vehicle control function, each functional module is connected with the control unit, and each functional module is also connected with a corresponding regional control unit;
the regional control unit is arranged at a corresponding position of the vehicle, acquires a control signal sent by the vehicle at the position, and sends the acquired control signal to the functional module connected with the regional control unit;
the function module is used for receiving the control signal sent by the area control unit and sending the control signal to the control unit;
the control unit is used for processing the received control signal, generating a feedback signal corresponding to the control signal, and sending the feedback signal to the regional control unit through the functional module so as to control the regional control unit to execute a corresponding function on the vehicle.
In some technical schemes of the application, the functional module is a vehicle body control module, and the vehicle body control module is connected with the first area control unit;
the first area control unit is used for acquiring a first control signal of the vehicle and sending the first control signal to the vehicle body control module;
the vehicle body control module is used for receiving the first control signal and controlling the vehicle body according to the first control signal.
In some embodiments of the present application, the functional module is a battery management module, and the battery management module is connected to the second area control unit;
the second area control unit is used for acquiring a second control signal of the vehicle and sending the second control signal to the battery management module;
the battery management module is used for receiving the second control signal and controlling the battery of the vehicle according to the second control signal.
In some technical schemes of the application, the functional module is a whole vehicle control module, and the whole vehicle control module is connected with a third area control unit;
the third area control unit is used for acquiring a third control signal of the vehicle and sending the third control signal to the whole vehicle control module;
and the whole vehicle control module is used for receiving the third control signal and acquiring a whole vehicle input/output signal and realizing whole vehicle control according to the third control signal and the whole vehicle input/output signal.
In some embodiments of the present application, the functional module is a central gateway module;
the central gateway module is used for realizing the transmission and routing of signals and messages.
In some embodiments of the present application, the functional module is a network management module;
the network management module is used for responding to the operation of setting the working mode and setting the corresponding working mode.
In some technical schemes of the application, the working modes are a plurality of, the awakening modes of different working modes are different, and the different awakening modes correspond to different awakening sources; the wake-up source comprises at least one of: CAN, LIN, hard-wired, ethernet.
In some embodiments of the present application, the wake-up is performed by:
responding to the wake-up source determining operation, and determining a target wake-up source from CAN, LIN, hard wire and Ethernet;
the target wake-up source wakes up the battery management module, the battery management module wakes up the control unit, and the control unit wakes up other functional modules except the battery management module.
In some embodiments of the present application, the control unit includes a micro control unit and a microprocessor, and wakes up the control unit by:
the battery management module wakes up the micro control unit, which wakes up the microprocessor.
In some embodiments of the present application, the control unit includes a micro control unit and a microprocessor; the control unit comprises an aging control unit and an operation control unit;
the micro control unit is connected with the aging control unit and controls the aging control unit;
the microprocessor is connected with the operation control unit and controls the operation control unit.
The technical scheme provided by the embodiment of the application can comprise the following beneficial effects:
the present application provides a vehicle control device including: a central whole-vehicle-domain controller and a regional control unit; the central whole-vehicle-domain controller comprises a multi-core heterogeneous control unit and a plurality of functional modules, each functional module correspondingly realizes a vehicle control function, each functional module is connected with the control unit, and each functional module is also connected with a corresponding regional control unit; the regional control unit is arranged at a corresponding position of the vehicle, acquires a control signal sent by the vehicle at the position, and sends the acquired control signal to the functional module connected with the regional control unit; the function module is used for receiving the control signal sent by the area control unit and sending the control signal to the control unit; the control unit is used for processing the received control signal, generating a feedback signal corresponding to the control signal, and sending the feedback signal to the regional control unit through the functional module so as to control the regional control unit to execute a corresponding function on the vehicle. The application provides a centralized architecture, wherein the control and calculation functions of each electronic control unit in the traditional architecture are centralized on the control unit, so that the intelligent whole vehicle is facilitated, the on-line upgrading of the whole vehicle is facilitated, the SOA requirement of the whole vehicle is expected to be met, meanwhile, the wiring harness of the whole vehicle is saved, and the wiring harness cost is reduced.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 shows a schematic diagram of a vehicle control apparatus provided by an embodiment of the present application;
FIG. 2 shows a schematic diagram of a control unit according to an embodiment of the present application;
FIG. 3 shows a schematic diagram of another control unit provided by an embodiment of the present application;
FIG. 4 is a schematic diagram of a control connection of a control unit according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a functional module according to an embodiment of the present application;
fig. 6 is a schematic diagram of a specific implementation manner provided in the embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present application, and it should be understood that the drawings in the present application are for the purpose of illustration and description only and are not intended to limit the scope of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. A flowchart, as used in this disclosure, illustrates operations implemented according to some embodiments of the present application. It should be understood that the operations of the flow diagrams may be implemented out of order and that steps without logical context may be performed in reverse order or concurrently. Moreover, one or more other operations may be added to or removed from the flow diagrams by those skilled in the art under the direction of the present disclosure.
In addition, the described embodiments are only some, but not all, embodiments of the application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.
It should be noted that the term "comprising" will be used in embodiments of the application to indicate the presence of the features stated hereafter, but not to exclude the addition of other features.
With the rapid development of science and technology, automobiles become one of the vehicles mainly used when people travel. Along with the gradual improvement of the living standard of people, the requirements for automobiles are continuously improved when the automobile travels, and the automobiles are developing towards a more intelligent direction.
As the intelligent degree of the automobile is higher and higher, the control capability requirement on the automobile is also greatly improved. The single dispersed ECUs (electronic control units) in the existing distributed architecture can not meet the centralized demands in the aspects of running stability, reliability and the like.
Based on this, an embodiment of the present application provides a vehicle control apparatus, which is described below by way of embodiments. Some embodiments of the application are described in detail below. The following embodiments and features of the embodiments may be combined with each other without conflict.
As shown in fig. 1, the present application discloses a vehicle control apparatus including a central whole vehicle domain controller and a zone control unit; the central whole-vehicle-domain controller comprises a multi-core heterogeneous control unit and a plurality of functional modules, each functional module correspondingly realizes a vehicle control function, each functional module is connected with the control unit, and each functional module is also connected with the corresponding regional control unit. The application provides a centralized architecture, wherein the control and calculation functions of each ECU in the traditional architecture are centralized on a control unit (VDC), so that the intelligent whole vehicle is facilitated, the online upgrade (OTA) of the whole vehicle is facilitated to be expected to meet the SOA requirement of the whole vehicle, meanwhile, the wire harness of the whole vehicle is saved, and the wire harness cost is reduced.
The regional control unit is arranged at a corresponding position of the vehicle, acquires a control signal sent by the vehicle at the position, and sends the acquired control signal to the functional module connected with the regional control unit; the functional module receives the control signal sent by the area control unit and sends the control signal to the control unit; the control unit processes the received control signal, generates a feedback signal corresponding to the control signal, and sends the feedback signal to the regional control unit through the functional module so as to control the regional control unit to execute a corresponding function on the vehicle.
As shown in FIG. 2, the control unit in the embodiment of the application is multi-core heterogeneous, and comprises a control unit (MCU) and a Microprocessor (MPU). The MCU and the MPU are provided with multiple interfaces which are respectively connected with different devices, and the MCU and the MPU are particularly shown in figure 3. As shown in fig. 4, the control unit in the embodiment of the present application includes an aging control unit and an operation control unit; the micro control unit is connected with the aging control unit and controls the aging control unit; the microprocessor is connected with the operation control unit and controls the operation control unit. The aging control unit herein means a control unit having a high requirement for aging, such as a vehicle control module, a battery management module, and the like. The operation control unit is a control unit with high operation requirement, such as a central gateway module.
In the implementation, VDC is mainly divided into several aspects due to integration of multiple functions, application software related to vehicle control (such as vehicle control, battery management, air conditioner control and the like) has higher requirements on real-time performance, and functions with higher operation requirements (such as gateway functions) are deployed on a real-time core (MCU), and functions with higher requirements on functional safety are deployed on a lockstep core.
In the embodiment of the application, a plurality of functional modules are provided, and each functional module corresponds to an area control unit. Specifically, as shown in fig. 5, the functional modules include a vehicle body control module, a battery management module, a vehicle control module, a central gateway module, and a network management module.
The vehicle body control module is connected with the first area control unit; the first area control unit is used for acquiring a first control signal of the vehicle and sending the first control signal to the vehicle body control module; the vehicle body control module is used for receiving the first control signal and controlling the vehicle body according to the first control signal.
In a specific implementation, the first area control unit may be a control unit related to a vehicle body, for example, a vehicle lamp control unit. When the first area control unit is a car lamp control unit, the first area control unit is arranged in the vicinity of the car lamp and used for acquiring control signals of the car lamp. The Body Control Module (BCM) communicates with the regional control unit ZCU mainly through CAN, LIN and Ethernet (ETH) to implement body related control. For example, when the VDC receives a turn-on signal of a headlight (generally, the VDC is collected by ZCU and then sent to the VDC), the VDC performs functional determination and logic processing, and then feeds back a corresponding execution request signal to the ZCU through the CAN, LIN and Ethernet (ETH), and the ZCU controls the turn-on of the responding headlight.
The battery management module is connected with the second area control unit; the second area control unit is used for acquiring a second control signal of the vehicle and sending the second control signal to the battery management module; the battery management module is used for receiving the second control signal and controlling the battery of the vehicle according to the second control signal.
In a specific implementation, the second area control unit is a slave control board and a high-voltage board which can be arranged in the PACK, and the high-voltage board and the slave control board collect relevant signals of the battery, such as voltage, current and the like. The battery management module (BMS) is mainly communicated with the slave control board and the high-voltage board in the PACK through CAN communication, the high-voltage board transmits the collected temperature, voltage and current signals of the battery core to the VDC, the VDC CAN calculate SOC, SOP, SOH of the battery core according to parameters, meanwhile, whether the voltage and temperature signals exceed a threshold value or not is judged, and the relay for controlling discharging or charging is disconnected after the voltage and temperature signals exceed the threshold value, so that power failure of the whole vehicle, power protection of a high-voltage battery PACK and the like are realized.
The whole vehicle control module is connected with the third area control unit; the third area control unit is used for acquiring a third control signal of the vehicle and sending the third control signal to the whole vehicle control module; and the whole vehicle control module is used for receiving the third control signal and acquiring a whole vehicle input/output signal and realizing whole vehicle control according to the third control signal and the whole vehicle input/output signal.
In a specific implementation, the third area control unit includes a relay, a fan, a motor controller, an ac charger, and the like. The Vehicle Control Unit (VCU) collects signals related to the vehicle and controls peripheral loads such as relays, water pumps and fans through related INPUT and output hard wires (e.g., INPUT and Switch Drive in fig. 3) and the like, and on the other hand, the Vehicle Control Unit (VCU) communicates with other ECUs (e.g., motor controllers in power domains, voltage conversion converters, ac chargers and the like) on the vehicle network through the CAN, LIN and the like, and EPBs, EPS and the like of the chassis, so that corresponding functions of the conventional vehicle controllers are realized.
The functional module in the embodiment of the application can also be a central gateway module; the central gateway module is used for realizing the transmission and routing of signals and messages. The central gateway module (CGW) mainly aims at transmitting and routing signals and messages, and CAN be carried out through CAN communication or through Ethernet (ETH). VDC acts as a typical central gateway to support both CAN and ethernet communication routing. CAN communication is generally due to its stability, security and maturity. The signal protocol type is usually used as the whole vehicle control, while the Ethernet is more bearing intelligenceTerminal data communication such as cloud communication, intelligent driving data display and the like 。
The functional module in the embodiment of the application can also be a network management module; the network management module is used for responding to the operation of setting the working mode and setting the corresponding working mode.
The network management module is used as a center of whole vehicle control, and the VDC needs to bear the whole network management function, wherein the network management relates to network management state machine design and network wake-up design. The network management state machine comprises various working modes designed for the central whole vehicle domain control. Different wake-up modes of the same working mode correspond to different wake-up sources; the wake-up source comprises at least one of: CAN, LIN, hard-wired, ethernet. Specific operation modes include sleep (only sleep awake state is supported), standby (extremely low power consumption), ready (light sleep), normal power consumption (full power consumption), power consumption in abnormal state (failure detection), and the like. Various different operating modes need to be switched by setting different jump conditions. For the important wake-up function in the network management module, it needs to support different wake-up sources, mainly including CAN, LIN, hard wire, and ethernet.
When the wake-up is performed, a user is required to perform wake-up source determining operation, and the user selects among four different wake-up sources of CAN, LIN, hard wire and Ethernet to determine a target wake-up source. After the target wake-up source is determined, the target wake-up source is used for waking up the battery management module, then the battery management module wakes up the control unit, and finally the control unit wakes up other functional modules except the battery management module.
In the implementation, first, four wake-up sources need to wake up the PMIC (power management chip) first, and then immediately wake up the MCU. After the MCU wakes up, the initialization configuration can be performed on the Ethernet Switch to ensure that the Ethernet can effectively communicate, and the initialization process mainly comprises register enabling, receiving and transmitting path binding and the like. Subsequently, the MCU may control the wake-up of the MPU by controlling the chip power supply of the other MPUs.
In an alternative implementation, the VDC host chip in the embodiment of the present application may select the heterogeneous chip S32G series of the encumbps with higher versatility in the market currently (other may be selected according to design requirements, which is only an example here). As shown in fig. 6, the S32G includes a multi-core M core and an a core, which can meet VDC related requirements, and also facilitate expansion of later functions, such as adding a part of low-order auxiliary driving functions, and the like.
Because VDC also needs to be communicated with a plurality of ECUs on the whole vehicle, the VCD needs to be in multi-path CAN communication and is compatible with CAN-FD, a CAN-FD interface circuit adopts a standard CAN interface circuit, static electricity and surge protection and terminal matching are supported, each path of CAN communication needs to be in corresponding terminal matching resistance, a common mode inductance with a certain size is reserved, and the VCD is selectively pasted according to the EMC actual measurement result. Most important is the support of any frame CAN wakeup function.
At the same time, VDC is required to support a certain amount of LIN communication and support LIN wakeup, and the communication rate is 1-20 Kbps. The default is the MASTER mode, the slave mode can be configured according to specific requirements through resistor and diode pull-up configuration, and the interface design needs to be designed into an ESD protection circuit.
The VDC may collect some analog and digital input signals, particularly signals with very high safety levels, such as accelerator pedal signals, brake pedal signals, and crash signals and high voltage interlock signals, etc., because these signals relate to the high safety level of the whole vehicle, with direct collection and processing of the VDC. In addition, some hardwired wake-up signals are also received and collected directly by the VDC for VDC wake-up functions.
Meanwhile, the VDC can reserve some high-low side output and can be used for driving a relay, a water pump fan and the like. The reserved interface can be designed according to actual requirements.
Most importantly, VDC acts as a central gateway and the demand for ethernet would be substantial, including hundred mega ethernet and even gigabit ethernet. The S32G chip is provided with some Ethernet interfaces and is directly connected with the Ethernet PHY. If the number of the Ethernet interfaces of the chip cannot meet the design requirement, the Switch can be increased, and more Ethernet communication interfaces are expanded through the Switch so as to meet the requirement.
Because the S32G chip does not have own flash, a flash chip with a proper size can be selected in a plug-in mode, and the storage space is expanded.
In the embodiments provided in the present application, it should be understood that the disclosed system and method may be implemented in other manners. The system embodiments described above are merely illustrative, e.g., the division of the elements is merely a logical functional division, and there may be additional divisions in actual implementation, and e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, system 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 achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments provided in the present application 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 functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It should be noted that: like reference numerals and letters in the following figures denote like items, and thus once an item is defined in one figure, no further definition or explanation of it is required in the following figures, and furthermore, the terms "first," "second," "third," etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above examples are only specific embodiments of the present application, and are not intended to limit the scope of the present application, but it should be understood by those skilled in the art that the present application is not limited thereto, and that the present application is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the corresponding technical solutions. Are intended to be encompassed 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. A vehicle control apparatus, characterized in that the apparatus comprises: a central whole-vehicle-domain controller and a regional control unit; the central whole-vehicle-domain controller comprises a multi-core heterogeneous control unit and a plurality of functional modules, each functional module correspondingly realizes a vehicle control function, each functional module is connected with the control unit, and each functional module is also connected with a corresponding regional control unit;
the regional control unit is arranged at a corresponding position of the vehicle, acquires a control signal sent by the vehicle at the position, and sends the acquired control signal to the functional module connected with the regional control unit;
the function module is used for receiving the control signal sent by the area control unit and sending the control signal to the control unit;
the control unit is used for processing the received control signal, generating a feedback signal corresponding to the control signal, and sending the feedback signal to the regional control unit through the functional module so as to control the regional control unit to execute a corresponding function on the vehicle.
2. The apparatus of claim 1, wherein the functional module is a body control module, the body control module being coupled to the first zone control unit;
the first area control unit is used for acquiring a first control signal of the vehicle and sending the first control signal to the vehicle body control module;
the vehicle body control module is used for receiving the first control signal and controlling the vehicle body according to the first control signal.
3. The apparatus of claim 1, wherein the functional module is a battery management module, the battery management module being connected to a second zone control unit;
the second area control unit is used for acquiring a second control signal of the vehicle and sending the second control signal to the battery management module;
the battery management module is used for receiving the second control signal and controlling the battery of the vehicle according to the second control signal.
4. The apparatus of claim 1, wherein the functional module is a vehicle control module, the vehicle control module being connected to a third zone control unit;
the third area control unit is used for acquiring a third control signal of the vehicle and sending the third control signal to the whole vehicle control module;
and the whole vehicle control module is used for receiving the third control signal and acquiring a whole vehicle input/output signal and realizing whole vehicle control according to the third control signal and the whole vehicle input/output signal.
5. The apparatus of claim 1, wherein the functional module is a central gateway module;
the central gateway module is used for realizing the transmission and routing of signals and messages.
6. The apparatus of claim 1, wherein the functional module is a network management module;
the network management module is used for responding to the operation of setting the working mode and setting the corresponding working mode.
7. The apparatus of claim 6, wherein the operating modes are a plurality of, the wake-up modes of different operating modes being different, the different wake-up modes corresponding to different wake-up sources; the wake-up source comprises at least one of: CAN, LIN, hard-wired, ethernet.
8. The apparatus of claim 7, wherein the waking is performed by:
responding to the wake-up source determining operation, and determining a target wake-up source from CAN, LIN, hard wire and Ethernet;
the target wake-up source wakes up the battery management module, the battery management module wakes up the control unit, and the control unit wakes up other functional modules except the battery management module.
9. The apparatus of claim 8, wherein the control unit comprises a micro control unit and a microprocessor that wakes up the control unit by:
the battery management module wakes up the micro control unit, which wakes up the microprocessor.
10. The apparatus of claim 1, wherein the control unit comprises a micro control unit and a microprocessor; the control unit comprises an aging control unit and an operation control unit;
the micro control unit is connected with the aging control unit and controls the aging control unit;
the microprocessor is connected with the operation control unit and controls the operation control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310627596.7A CN116946042A (en) | 2023-05-30 | 2023-05-30 | Vehicle control device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310627596.7A CN116946042A (en) | 2023-05-30 | 2023-05-30 | Vehicle control device |
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| CN116946042A true CN116946042A (en) | 2023-10-27 |
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| CN202310627596.7A Pending CN116946042A (en) | 2023-05-30 | 2023-05-30 | Vehicle control device |
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