CN117579668A - Early warning method and device based on network management of insufficient power, vehicle and readable storage medium - Google Patents
Early warning method and device based on network management of insufficient power, vehicle and readable storage medium Download PDFInfo
- Publication number
- CN117579668A CN117579668A CN202311535264.2A CN202311535264A CN117579668A CN 117579668 A CN117579668 A CN 117579668A CN 202311535264 A CN202311535264 A CN 202311535264A CN 117579668 A CN117579668 A CN 117579668A
- Authority
- CN
- China
- Prior art keywords
- network management
- message
- controller
- management message
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 61
- 230000007958 sleep Effects 0.000 claims abstract description 84
- 230000002159 abnormal effect Effects 0.000 claims abstract description 50
- 230000005059 dormancy Effects 0.000 claims abstract description 24
- 230000015654 memory Effects 0.000 claims description 15
- 230000007812 deficiency Effects 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 3
- 238000012163 sequencing technique Methods 0.000 claims description 3
- 238000012790 confirmation Methods 0.000 claims description 2
- 238000012360 testing method Methods 0.000 claims description 2
- 230000006735 deficit Effects 0.000 claims 1
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000004891 communication Methods 0.000 description 18
- 230000008569 process Effects 0.000 description 17
- 230000005540 biological transmission Effects 0.000 description 12
- 230000006870 function Effects 0.000 description 8
- 230000008447 perception Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000006399 behavior Effects 0.000 description 5
- 238000005259 measurement Methods 0.000 description 5
- 230000005856 abnormality Effects 0.000 description 3
- 238000004422 calculation algorithm Methods 0.000 description 3
- 230000010267 cellular communication Effects 0.000 description 3
- 239000000446 fuel Substances 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 description 2
- ATUOYWHBWRKTHZ-UHFFFAOYSA-N Propane Chemical compound CCC ATUOYWHBWRKTHZ-UHFFFAOYSA-N 0.000 description 2
- 238000002485 combustion reaction Methods 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 101001093748 Homo sapiens Phosphatidylinositol N-acetylglucosaminyltransferase subunit P Proteins 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- VABYUUZNAVQNPG-UHFFFAOYSA-N Piperlongumine Natural products COC1=C(OC)C(OC)=CC(C=CC(=O)N2C(C=CCC2)=O)=C1 VABYUUZNAVQNPG-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 208000035139 partial with pericentral spikes epilepsy Diseases 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000001294 propane Substances 0.000 description 1
- 230000000979 retarding effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/02—Details
- H04L12/10—Current supply arrangements
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/22—Parsing or analysis of headers
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Health & Medical Sciences (AREA)
- Computing Systems (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Computer Security & Cryptography (AREA)
- Small-Scale Networks (AREA)
Abstract
The invention relates to the technical field of automobile electronics, and particularly discloses a network management-based power shortage early warning method, a network management-based power shortage early warning device, a vehicle and a readable storage medium. The method comprises the steps of defining a network management message of a controller with network management, wherein the definition of the network management message comprises the steps of distributing different node address bits and dormancy wakeup state bits to the controller; acquiring a network management message sent by a controller; acquiring a message analysis database file set for the controller identification information in the network management message; analyzing the network management message, and judging whether the controller is in a sleep abnormal state or not; if the mobile device is in the sleep abnormal state, analyzing the address information of the controller according to the network management message, generating a sleep abnormal signal, and sending the sleep abnormal signal to the mobile device to execute early warning; the method accurately judges whether the controller is in a sleep abnormal state, and positions out the corresponding specific controller, thereby facilitating the later maintenance of the vehicle and preventing the power shortage of the vehicle.
Description
Technical Field
The invention relates to the technical field of automobile electronics, in particular to a network management-based power shortage early warning method, a network management-based power shortage early warning device, a vehicle and a readable storage medium.
Background
Along with the rapid development of intelligent and networking of automobiles, electronic modules of the automobiles are more and more, meanwhile, information interaction and functions among the modules are more and more complex, more and more modules still need to realize functions after the whole automobile is powered down, nodes participating in network management are more and more, OSEK (Open Systems and the Corresponding Interfaces for AUTomotiveEle ctronics, an automobile electronic open system and a corresponding interface) network management is carried out, according to a network management dormancy and awakening mechanism, when an ECU (electronic control unit) of a certain module of the automobile cannot enter dormancy, all the nodes participating in the network management of the whole automobile cannot be dormant, the problem of insufficient power of the automobile is easily caused, and the continuous voyage of the automobile is influenced.
In the related art, the dormancy of each controller module is monitored through network management, and in the related art, the network management can detect that the module is not dormant and gives an early warning to the mobile terminal, but can not identify and locate which controller module is in particular dormant abnormally, so that the later maintenance of the vehicle and the early warning of the power shortage of the vehicle are inconvenient.
Disclosure of Invention
The invention aims to solve the problems that in the prior art, the dormancy of each module is monitored through network management, and the dormancy abnormality of the module cannot be accurately identified, so that the later maintenance of a vehicle and the early warning of the power deficiency of the vehicle are inconvenient.
In a first aspect, an embodiment of the present application provides a network management-based power loss early warning method, including:
the method comprises the steps of defining a network management message for a controller with network management of the whole vehicle, wherein the network management message definition comprises the steps of distributing different node address bits and dormancy wakeup state bits for each controller;
when the whole vehicle power supply is in a closed state, acquiring the network management message sent by each controller;
acquiring a message analysis database file which is set for identifying the controller identification information in the network management message;
analyzing the network management message based on the message analysis database file, and judging whether the corresponding controller is in a sleep abnormal state or not;
if the mobile device is in the sleep abnormal state, the address information of the controller is analyzed according to the network management message, a sleep abnormal signal is generated, and the sleep abnormal signal is sent to the mobile device to execute early warning.
According to some embodiments of the present application, in the step of defining the network management message for the controller with network management at the vehicle end, the method includes:
the network management message is generated based on OSKE network management, and the type of the network management message is defined to comprise an Alive message, a Ring message and a limpHome message; and
and defining that the network management message operation code data bit comprises a three-byte message flag bit, a sleepInd information bit and a sleepACK information bit.
According to some embodiments of the application, the defining the network management message opcode data bits includes three bytes of message flag bits, sleepInd information bits, and SleepACK information bits includes:
the network management message data bit comprises: the first byte is an Alive message flag bit, the second byte is a Ring message flag bit, the third byte is a limpHome message flag bit, the fifth byte is a sleep indication bit of a node, the sixth byte is a sleep confirmation bit of the Ring message of the node, and the fourth, seventh and eighth bytes are reserved bits;
according to some embodiments of the present application, the network management message definition is performed on the controllers with network management at the opposite vehicle end, where the network management message definition includes a step of allocating different node address bits and sleep-awake state bits to each controller, and further includes:
Defining a gateway of the whole vehicle, wherein the gateway receives the network management message sent by each controller, and determines dormancy and awakening states of node networks of all network segments according to the network management message.
According to some embodiments of the present application, the step of obtaining the network management message sent by each controller with network management when the whole vehicle power supply is in a closed state includes:
when the whole vehicle power supply is in a closed state, based on the gateway, receiving all the network management messages participating in the direct network management node, judging whether the network management messages sent by a certain controller are not received or not at intervals of a first preset time;
if yes, modifying a state signal corresponding to the ECU in the network management message sent by the non-received controller;
integrating and forwarding the network management message to a vehicle-mounted T-BOX every second preset time according to the actual state of node network management;
and the vehicle-mounted T-BOX sends the received network management message to a big data platform in real time.
According to some embodiments of the present application, the analyzing the network management message based on the message parsing database file, and determining whether the corresponding controller is in the sleep abnormal state step includes:
Extracting node addresses of each network management message, and sequencing the network management messages from high address to low address according to the node addresses;
and analyzing the message analysis database file and the sequenced flag bits of the network management messages one by one, and judging whether the controller corresponding to the network management messages is in a sleep abnormal state or not.
According to some embodiments of the present application, the step of analyzing the flag bits of the network management message one by one based on the message parsing database file and the sequenced flag bits of the network management message to determine whether the controller corresponding to the network management message is in the sleep abnormal state includes:
judging whether the network management message is a Ring message or not from a high address to a low address in sequence;
if the network management message is a Ring message, judging whether the corresponding controller is in a to-be-dormant state according to a sleep Ind information bit of the operation code Ring message;
if the sleep Ind information bit is 1, the controller corresponding to the Ring message is in a state to be dormant;
if the network management message is a non-Ring message or the sleep ind information bit is 0, the controller corresponding to the Ring message is in a sleep abnormal state.
In a second aspect, an embodiment of the present application provides a network management-based power loss early warning device, including:
the first acquisition module is used for acquiring the network management message sent by each controller with network management when the whole vehicle power supply is in a closed state;
the second acquisition module is used for acquiring a message analysis database file set for the controller identification information in the network management message;
the judging module is used for analyzing the message analysis database file and the sequenced flag bits of the network management messages one by one to determine whether the controller corresponding to the network management message is in a sleep abnormal state or not;
and the execution module is used for analyzing the address information of the controller and generating a dormancy abnormal signal according to the network management message if the controller is in the dormancy abnormal state according to the judgment result of the judgment module, and sending the dormancy abnormal signal to a preset terminal.
In a third aspect, an embodiment of the present application provides a vehicle, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the processor executes the computer program to implement the steps of the network management power deficiency early warning method according to any one of the embodiments of the first aspect.
In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, where a computer program corresponding to a vehicle electric side sliding door testing method is stored on the readable storage medium, and the computer program is executed by a processor to implement the steps of the network management deficiency electricity early warning method according to any one of the embodiments of the first aspect.
It will be appreciated that the advantages of the second to fourth aspects may be found in the relevant description of the first aspect and are not repeated here.
The technical scheme in the embodiment of the application has at least the following technical effects or advantages:
the method comprises the steps that network management message definition is conducted on each controller with network management of the whole vehicle, wherein the network management message definition comprises the steps of distributing different node address bits and dormancy awakening state bits to each controller; when the whole vehicle power supply is in a closed state, each controller can send network management messages to the gateway through the bus, the gateway integrates the network management messages according to the network management messages and sends all the integrated network management messages to the vehicle-mounted T-BOX, the vehicle-mounted T-BOX sends all the integrated network management messages to the big data platform, a message analysis database file set for the controller identification information in the network management messages is preset on the big data platform, and an operation code of each network management message is analyzed to accurately judge whether the controller corresponding to the network management message is in a sleep abnormal state or not, locate the corresponding specific controller, and carry out alarm prompt through the mobile terminal equipment, so that the vehicle is convenient to overhaul in the later period and the controller accurately find the vehicle sleep abnormal state to avoid the vehicle power shortage.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed 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 invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a network-based management power loss early warning method according to an embodiment of the present application;
FIG. 2 is a further flow chart of a network-based management power loss warning method according to an embodiment of the present application;
fig. 3 is a hardware block diagram corresponding to a network management-based power loss early warning method according to an embodiment of the present application;
FIG. 4 is a block diagram of a network-based management of a power loss warning device according to an embodiment of the present application;
fig. 5 is a functional block diagram of a vehicle according to an embodiment of the present application.
Description of the embodiments
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.
The terms "first," second, "" third and the like in the description and in the claims and drawings are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the terms "comprising," "including," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion. For example, a series of steps or elements may be included, or alternatively, steps or elements not listed or, alternatively, other steps or elements inherent to such process, method, article, or apparatus may be included.
Only some, but not all, of the matters relevant to the present application are shown in the accompanying drawings. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently, or at the same time. Furthermore, the order of the operations may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, and the like.
As used in this specification, the terms "component," "module," "system," "unit," and the like are intended to refer to a computer-related entity, either hardware, firmware, a combination of hardware and software, or software in execution. For example, a unit may be, but is not limited to being, a process running on a processor, an object, an executable, a thread of execution, a program, and/or being distributed between two or more computers. Furthermore, these units may be implemented from a variety of computer-readable media having various data structures stored thereon. The units may communicate by way of local and/or remote processes such as in accordance with a signal having one or more data packets (e.g., second unit data from another unit interacting with a local system, distributed system, and/or across a network).
Referring to fig. 1, fig. 1 shows a flowchart of a network management power loss early warning method according to an exemplary embodiment of the present application, which is described in detail below:
step S100: the method comprises the steps of defining a network management message for a controller with network management of the whole vehicle, wherein the network management message definition comprises the steps of distributing different node address bits and dormancy wakeup state bits for each controller;
In this step, it should be noted that, the method of this embodiment is implemented based on the vehicle-mounted automotive electronic open system and corresponding interface (Open Systems and the Corresponding Interfaces for AUTomotiveEle ctronics, OSEK) network management, and the existing network management can identify that there is a non-dormancy abnormality in the controller and pre-warn the mobile terminal through the dormancy and wake-up mechanism, but cannot identify and locate which controller is specifically dormancy abnormality;
it can be understood that a gateway is mounted in the vehicle, and the gateway is integrally connected with each controller ECU (Electronic Control Unit) electronic control unit with network management, and the information transmission is carried out between each controller and the gateway in a message mode; the gateway is used as a carrier for information transmission, and when the gateway receives network management messages sent by the controllers, the network management messages are integrated and transmitted to the next information processing link;
the method comprises the steps that network management messages are defined for a controller with network management of the whole vehicle, two types of CAN and CANFD are arranged in a bus transmission mode of the implementation of OSEK network management, the data bit length of the network management messages is uniformly 8 bytes, different node address bits are defined in the network management messages used for information transmission of each controller ECU for distinguishing different controllers, the node address bits are sequentially set from low address to high address, missed detection CAN be avoided when the controllers of the vehicle are managed and controlled, and meanwhile, a sleep wake-up state judgment bit used for judging the controller and the setting of the sleep wake-up state judgment bit are also defined for judging whether the controller is in a sleep state or not;
It should be noted that, the network management message includes a plurality of different message types, and the different message types are used for different information carriers, where the defined network management message types include an Alive message, a Ring message, and a limpoome message; the method comprises the steps that identification bits for identification and judgment in network management are arranged in an Alive message, a Ring message and a limpHome message;
when the controller needs CAN communication, the ECU network starts, the controller wakes up the network or applies to join the network by sending an Alive message, other ECUs receiving the Alive message wake up or update logic and then build a logic Ring, when the logic Ring is built, the controller ECU sends a Ring message, other controller ECUs receiving the Ring message monitor the target address of the Ring message and judge whether the Ring message is skipped, if so, the Alive message is sent, and after other ECUs are prompted to update logic, the logic Ring is re-built;
in some embodiments, two types of bus transmission modes of OSEK network management are CAN and CANFD, the length of data bits is uniformly eight bytes, bytes which are not applicable in a data field agree to be filled with 0×00, the base address of OSEK network management ID is 0×400 by taking a certain vehicle type as an example, each module participating in OSEK network management is uniformly allocated with a different node address, and the data bits of the network management message operation code include three-byte message flag bits, sleepInd information bits and SleepACK information bits;
As shown in table (1), in the three-byte message flag Bit of the network management message operation code data Bit, the first byte Bit0 is an Alive message flag Bit, the second byte Bit1 is a Ring message flag Bit, and the third byte Bit2 is a limpoome message flag Bit, it can be understood that, in order to ensure the reliability of the classification of the network management message, only one byte of the three-byte message flag Bit is 1, for example, when Bit0 is 1, bit1 is 0 and Bit2 is 0, the network management message is an Alive message, when Bit0 is 0, bit1 is 1 and Bit2 is 0, the network management message is a Ring message, and when Bit0 is 0, bit1 is 0 and Bit2 is 1, the network management message is a limpoome message;
meanwhile, for the fourth byte Bit3, the seventh byte Bit6 and the eighth byte Bit7 in the operation code, the reserved bits are generally set to 0, the fifth byte thereof represents sleep indication bits of the nodes, and the sixth byte is sleep acknowledgement bits of the sleep indication bits of the Ring message of the nodes;
the network management message is defined in this way, the network management message records the ID base address of each controller and the sleep wake-up mark of each controller, when the network management message sent by each controller is transmitted to the gateway, the gateway is integrated and then transmitted to the big data platform, and the big data platform analyzes the network management message to obtain the sleep state of each controller.
Table 1: network management message operation code schematic table
Of course, it may be further understood that, in order to facilitate the processor to process the network management message sent by each controller, the gateway of the whole vehicle is defined to enable the gateway to receive the network management message sent by each controller, and determine the sleep and wake-up states of the node network of each network segment according to the network management message.
In order to avoid the situation that the network management message is lost in the transmission process, the controller ECU can sequentially generate specific messages to form a logic ring, and information interaction can be established in a handshake mode;
step S200: when the whole vehicle power supply is in a closed state, acquiring the network management message sent by each controller;
in this step, it should be noted that, when the whole vehicle power supply is in a closed state, since some data in the vehicle still needs to be cached, hardware such as each controller and gateway under network management will not be powered off immediately, but work for a certain time, and when all data are cached, each controller ECU enters a sleep state, so that the power supply of the whole vehicle is completely disconnected;
However, because the controllers under the network management transmit and process data in the form of logic loops, when a certain controller ECU detects that dormancy is abnormal, all the controllers under the network management cannot be in a dormant state in time, so that the vehicle is in a power shortage state;
referring to fig. 3, fig. 3 shows a hardware block diagram of a network management power shortage early warning method according to an exemplary embodiment of the present application, where a gateway is communicatively connected to all controller ECUs under network management, when a power supply of a whole vehicle is in a closed state, after each controller ECU receives a power-down instruction, a network management message is generated and transmitted to the gateway, and the gateway integrates each network management message, where an integration process includes detecting each network management message according to a node address to determine whether a controller does not send a network management message;
in some embodiments, the gateway is in communication connection with a vehicle internet of vehicles control unit (T-Box), and the gateway receives network management messages sent by each controller and then integrates the network management messages and transmits the network management messages to a big data platform through the T-Box so as to realize subsequent processing of the network management messages, wherein the big data platform is in communication connection with the mobile terminal, and when the big data platform processes the network management messages, a prompt signal is generated so as to control the mobile terminal to display;
Optionally, when the whole vehicle power supply is in a closed state, based on the gateway, receiving all the network management messages participating in the direct network management node, judging whether the network management messages sent by a certain controller are not received at intervals of a first preset time, wherein the first preset time can be 500ms, and can be understood as analyzing the received network management messages with 500ms as a period, and judging whether the network management messages are missed by the certain controller;
if a certain controller leaks to send a network management message, generating a feedback control message until the network management message sent by the controller is received, and simultaneously, modifying a state signal corresponding to an ECU (electronic control unit) in the network management message sent by the controller which is not received in the earlier stage;
integrating and forwarding the network management message to a vehicle-mounted T-BOX every second preset time according to the actual state of node network management; the second preset time may be 500ms, and each second preset time may be understood as sending information in 500ms as one period, which of course, needs to be explained that, in order to ensure stability of the information transmission process, the gateway and the vehicle-mounted T-BOX are pre-connected through a handshake protocol before information transmission, and reliability of communication connection is determined;
And the vehicle-mounted T-BOX sends the received network management message to a big data platform in real time.
Step S300: acquiring a message analysis database file which is set for identifying the controller identification information in the network management message;
in the step, a message analysis database file is preset in a large data platform memory, and when the vehicle-mounted T-BOX transmits the integrated network management message to the large data platform, the large data platform analyzes the network management message through the preset message analysis database file, and the analysis process comprises the identification of the controller identification information in the network management message;
it can be understood that the message analysis database file is a program code of the large data platform for analyzing the network management message, when the whole vehicle is powered down, the large data platform receives the power-down indication information and the network management message sent by the vehicle-mounted T-BOX, and then calls and executes the instruction corresponding to the program corresponding to the message analysis database file,
step S400: analyzing the network management message based on the message analysis database file, and judging whether the corresponding controller is in a sleep abnormal state or not;
in this step, the big data platform parses the database file according to the preset message, executes the corresponding program code, and parses the network management message one by one, where the parsing process includes parsing the network management message operation code, and exemplarily, determining a three-byte message flag bit of the network management message, and determining a network management message type, where when the network management message type is detected as a Ring message and the state of the detected sleep indication bit is detected as a sleep.
It can be understood that when the type of the network management message is detected to be not a Ring message, for example, an Alive message or a LimpHome message, the controller ECU corresponding to the network management message may be in a sleep abnormal state; or when detecting that the type of the network management message is Ring message, but the state of the corresponding sleep indication bit is not sleep.
In some embodiments, as shown in table 2, table 2 shows a data table after parsing the big data platform, and as known from the table, the network management message includes BCM network management message, PEPS network management message, IC network management message, IVI network management message, and it should be noted that the table only shows parsing condition of part of the network management message, where other network management messages, such as PLGM network management message, APM network management message, BLE network management message, and SCMM network management message, are included;
table 2: data table after large data platform analysis
It can be further understood that the big data platform analyzes all the network management messages and generates a corresponding analysis table, wherein when a certain controller ECU is in a normal sleep state, the state is a sleep state, meanwhile, the start bits of different network management messages are different, the different start bits are set to be different, so that classification and identification can be conveniently performed on the big data platform, and thus, whether each controller ECU is in a sleep abnormal state can be accurately identified and read.
Step S500: if the controller is in the sleep abnormal state, analyzing the address information of the controller according to the network management message, generating a sleep abnormal signal, and sending the sleep abnormal signal to the execution early warning.
In the step, the big data platform analyzes all the received network management messages, and when detecting that the corresponding network management message sent by a certain controller ECU is not a Ring message or the state of the sleep indication bit is not sleep.
In some embodiments, after the big data platform detects the controller ECU in the sleep abnormal state, the accurate analysis of the controller address information is realized according to the node address of the network management message, meanwhile, the big data platform generates a sleep abnormal signal according to the analyzed information, the sleep abnormal signal includes a model corresponding to the sleep abnormal controller and information triggering an alarm prompt, and transmits the sleep abnormal signal to the mobile device, the mobile device carries out early warning prompt according to the sleep abnormal signal, and it can be understood that the mobile device can be an entertainment display device installed in a vehicle, and the mobile device enables a user to confirm the specific controller ECU in the sleep abnormal state in the first time
Referring to fig. 2, fig. 2 shows a sub-flowchart of a network management power loss early warning method according to an exemplary embodiment of the present application, where the sub-flowchart corresponds to the method steps described in step S400 of the above embodiment, and includes:
step S410: extracting node addresses of each network management message, and sequencing the network management messages from high address to low address according to the node addresses;
in this step, it should be noted that, all the controllers ECU with network management need to establish a logic ring according to a preset algorithm, the logic ring can be understood as a mechanism for implementing communication for all the controllers ECU with network management, meanwhile, specific node address information is set in the network management message sent by each controller ECU, it can be understood that the node address information is also a specific network management address, in order to facilitate orderly analysis of the network management message sent by each controller ECU, the network management message sent by each controller ECU is prioritized according to the node address, and the network management message ordered according to the priority forms a logic ring, so as to implement pre-preparation for the sleep state of all the network management messages.
Step S420: and analyzing the message analysis database file and the sequenced flag bits of the network management messages one by one, and judging whether the controller corresponding to the network management messages is in a sleep abnormal state or not.
In this step, through the ordered priority network management messages, a logic loop is formed from high address to low address for all network management messages, the big data platform sequentially judges whether the network management message type is Ring message or not, specifically, through judging whether the operation code Ring message flag bit of the network management message is 1, if 1 is Ring message, if 0 is non-Ring message;
if the network management message is a Ring message, judging whether the corresponding controller is in a to-be-dormant state according to a SleepInd information bit of an operation code of the Ring message;
if the sleep Ind information bit is 1, the controller corresponding to the Ring message is in a state to be dormant;
if the network management message is a non-Ring message or the sleep ind information bit is 0, the controller corresponding to the Ring message is in a sleep abnormal state.
In the method steps, each controller with network management is defined by a network management message, wherein the definition of the network management message comprises the allocation of different node address bits and dormancy wakeup state bits to each controller; when the whole vehicle power supply is in a closed state, each controller can send network management messages to the gateway through the bus, the gateway integrates the network management messages according to the network management messages and sends all the integrated network management messages to the vehicle-mounted T-BOX, the vehicle-mounted T-BOX sends all the integrated network management messages to the big data platform, a message analysis database file set for the controller identification information in the network management messages is preset on the big data platform, and an operation code of each network management message is analyzed to accurately judge whether the controller corresponding to the network management message is in a sleep abnormal state or not, locate the corresponding specific controller, and carry out alarm prompt through the mobile terminal equipment, so that the vehicle is convenient to overhaul in the later period and the controller accurately find the vehicle sleep abnormal state to avoid the vehicle power shortage.
Referring to fig. 4, fig. 4 shows a block diagram of a network management-based power loss early warning device according to an exemplary embodiment of the present application, including:
the first obtaining module 210 is configured to obtain, when the power supply of the whole vehicle is in a turned-off state, the network management message sent by each controller with network management;
a second obtaining module 220, configured to obtain a message parsing database file set for the controller identifier information in the network management message;
the judging module 230 is configured to analyze the packet analysis database file and the sequenced flag bits of the network management packet one by one, and determine whether the controller corresponding to the network management packet is in a sleep abnormal state;
a first sub-judging module 231, configured to judge a three-byte packet flag bit of a network management packet, so as to determine whether the network management packet is a Ring packet;
a second sub-judging module 232, configured to judge a sleep indication sleep ack information bit and a sleep determination sleep ack information bit of the network management message, determine whether a record corresponding to the network management message is in a sleep state,
the determining module 240 determines the sleep state of the controller corresponding to the network management message according to the first sub-judging module 231 and the second sub-judging module 232;
And the execution module 250 is configured to parse the address information of the controller and generate a sleep exception signal according to the network management message if the sleep exception state is in the sleep exception state according to the judgment result of the judgment module, and send the sleep exception signal to a preset terminal.
Referring to fig. 5, fig. 5 is a functional block diagram of a vehicle 600, which is illustrated according to an exemplary embodiment of the present application, the vehicle 600 may include various subsystems, such as an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. Alternatively, vehicle 600 may include more or fewer subsystems, and each subsystem may include multiple components. In addition, each of the subsystems and components of vehicle 600 may be interconnected via wires or wirelessly.
In some embodiments, the infotainment system 610 may include a communication system 611, an entertainment system 612, and a navigation system 613.
The communication system 611 may comprise a wireless communication system, which may communicate wirelessly with one or more devices, either directly or via a communication network. For example, the wireless communication system may use 3G cellular communication, such as CDMA, EVD0, GSM/GPRS, or 4G cellular communication, such as LTE. Or 5G cellular communication. The wireless communication system may communicate with a wireless local area network (wireless local area network, WLAN) using WiFi. In some embodiments, the wireless communication system may communicate directly with the device using an infrared link, bluetooth, or ZigBee. Other wireless protocols, such as various vehicle communication systems, for example, wireless communication systems may include one or more dedicated short-range communication (dedicated short range communications, DSRC) devices, which may include public and/or private data communications between vehicles and/or roadside stations.
Entertainment system 612 may include a display device, a microphone, and an audio, and a user may listen to the broadcast in the vehicle based on the entertainment system, playing music; or the mobile phone is communicated with the vehicle, the screen of the mobile phone is realized on the display equipment, the display equipment can be in a touch control type, and a user can operate through touching the screen.
In some cases, the user's voice signal may be acquired through a microphone and certain controls of the vehicle 600 by the user may be implemented based on analysis of the user's voice signal, such as adjusting the temperature within the vehicle, etc. In other cases, music may be played to the user through sound.
The navigation system 613 may include a map service provided by a map provider to provide navigation of a travel route for the vehicle 600, and the navigation system 613 may be used with the global positioning system 621 and the inertial measurement unit 622 of the vehicle. The map service provided by the map provider may be a two-dimensional map or a high-precision map.
The perception system 620 may include several types of sensors that sense information about the environment surrounding the vehicle 600. For example, sensing system 620 may include a global positioning system 621 (which may be a GPS system, or may be a beidou system, or other positioning system), an inertial measurement unit (inertial measurement unit, IMU) 622, a lidar 623, a millimeter wave radar 624, an ultrasonic radar 625, and a camera 626. The sensing system 620 may also include sensors (e.g., in-vehicle air quality monitors, fuel gauges, oil temperature gauges, etc.) of the internal systems of the monitored vehicle 600. Sensor data from one or more of these sensors may be used to detect objects and their corresponding characteristics (location, shape, direction, speed, etc.). Such detection and identification is a critical function of the safe operation of the vehicle 600.
The global positioning system 621 is used to estimate the geographic location of the vehicle 600.
The inertial measurement unit 622 is configured to sense a change in the pose of the vehicle 600 based on inertial acceleration. In some embodiments, inertial measurement unit 622 may be a combination of an accelerometer and a gyroscope.
The lidar 623 uses a laser to sense objects in the environment in which the vehicle 600 is located. In some embodiments, lidar 623 may include one or more laser sources, a laser scanner, and one or more detectors, among other system components.
The millimeter-wave radar 624 utilizes radio signals to sense objects within the surrounding environment of the vehicle 600. In some embodiments, millimeter-wave radar 624 may be used to sense the speed and/or heading of an object in addition to sensing the object.
The ultrasonic radar 625 may utilize ultrasonic signals to sense objects around the vehicle 600.
The image pickup device 626 is used to capture image information of the surrounding environment of the vehicle 600. The image capturing device 626 may include a monocular camera, a binocular camera, a structured light camera, a panoramic camera, etc., and the image information acquired by the image capturing device 626 may include still images or video stream information.
The decision control system 630 includes a computing system 631 that makes analysis decisions based on information acquired by the perception system 620, and the decision control system 630 also includes a vehicle controller 632 that controls the powertrain of the vehicle 600, as well as a steering system 633, throttle 634, and braking system 635 for controlling the vehicle 600.
The computing system 631 may be operable to process and analyze the various information acquired by the perception system 620 in order to identify targets, objects, and/or features in the environment surrounding the vehicle 600. The targets may include pedestrians or animals and the objects and/or features may include traffic signals, road boundaries, and obstacles. The computing system 631 may use object recognition algorithms, in-motion restoration structure (Structure from Motion, SFM) algorithms, video tracking, and the like. In some embodiments, the computing system 631 may be used to map the environment, track objects, estimate the speed of objects, and so forth. The computing system 631 may analyze the acquired various information and derive control strategies for the vehicle.
The vehicle controller 632 may be configured to coordinate control of the power battery and the engine 641 of the vehicle to enhance the power performance of the vehicle 600.
Steering system 633 is operable to adjust the direction of travel of vehicle 600. For example, in one embodiment may be a steering wheel system.
Throttle 634 is used to control the operating speed of engine 641 and thereby the speed of vehicle 600.
The braking system 635 is used to control deceleration of the vehicle 600. The braking system 635 may use friction to slow the wheels 644. In some embodiments, the braking system 635 may convert kinetic energy of the wheels 644 into electrical current. The braking system 635 may take other forms to slow the rotational speed of the wheels 644 to control the speed of the vehicle 600.
The drive system 640 may include components that provide powered movement of the vehicle 600. In one embodiment, the drive system 640 may include an engine 641, an energy source 642, a transmission 643, and wheels 644. The engine 641 may be an internal combustion engine, an electric motor, an air compression engine, or other types of engine combinations, such as a hybrid engine of a gasoline engine and an electric motor, or a hybrid engine of an internal combustion engine and an air compression engine. The engine 641 converts the energy source 642 into mechanical energy.
Examples of energy sources 642 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. The energy source 642 may also provide energy to other systems of the vehicle 600.
The transmission 643 may transfer mechanical power from the engine 641 to wheels 644. The transmission 643 may include a gearbox, a differential, and a driveshaft. In one embodiment, the transmission 643 may also include other devices, such as a clutch. Wherein the drive shaft may include one or more axles that may be coupled to one or more wheels 644.
Some or all of the functions of the vehicle 600 are controlled by the computing platform 650. The computing platform 650 may include at least one processor 651, and the processor 651 may execute instructions 653 stored in a non-transitory computer-readable medium, such as memory 652. In some embodiments, computing platform 650 may also be a plurality of computing devices that control individual components or subsystems of vehicle 600 in a distributed manner.
The processor 651 may be any conventional processor, such as a commercially available CPU. Alternatively, the processor 651 may also include, for example, an image processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a System On Chip (SOC), an application specific integrated Chip (Application Specific Integrated Circuit, ASIC), or a combination thereof. Although FIG. 5 functionally illustrates a processor, memory, and other elements of a computer in the same block, it will be understood by those of ordinary skill in the art that the processor, computer, or memory may in fact comprise multiple processors, computers, or memories that may or may not be stored within the same physical housing. For example, the memory may be a hard disk drive or other storage medium located in a different housing than the computer. Thus, references to a processor or computer will be understood to include references to a collection of processors or computers or memories that may or may not operate in parallel. Rather than using a single processor to perform the steps described herein, some components, such as the steering component and the retarding component, may each have their own processor that performs only calculations related to the component-specific functions.
In embodiments of the present disclosure, the processor 651 may perform the steps of the network-based management power loss warning method described above.
In various aspects described herein, the processor 651 can be located remotely from and in wireless communication with the vehicle. In other aspects, some of the processes described herein are performed on a processor disposed within the vehicle and others are performed by a remote processor, including taking the necessary steps to perform a single maneuver.
In some embodiments, fourth memory 652 may contain instructions 653 (e.g., program logic), which instructions 653 may be executed by fourth processor 651 to perform various functions of vehicle 600. Memory 652 may also contain additional instructions, including instructions to send data to, receive data from, interact with, and/or control one or more of infotainment system 610, perception system 620, decision control system 630, drive system 640.
In addition to instructions 653, memory 652 may store data such as road maps, route information, vehicle location, direction, speed, and other such vehicle data, as well as other information. Such information may be used by the vehicle 600 and the computing platform 650 during operation of the vehicle 600 in autonomous, semi-autonomous, and/or manual modes.
The computing platform 650 may control the functions of the vehicle 600 based on inputs received from various subsystems (e.g., the drive system 640, the perception system 620, and the decision control system 630). For example, computing platform 650 may utilize input from decision control system 630 in order to control steering system 633 to avoid obstacles detected by perception system 620. In some embodiments, computing platform 650 is operable to provide control over many aspects of vehicle 600 and its subsystems.
Alternatively, one or more of these components may be mounted separately from or associated with vehicle 600. For example, the memory 652 may exist partially or completely separate from the vehicle 600. The above components may be communicatively coupled together in a wired and/or wireless manner.
Alternatively, the above components are only an example, and in practical applications, components in the above modules may be added or deleted according to actual needs, and fig. 5 should not be construed as limiting the embodiments of the present disclosure.
Alternatively, the vehicle 600 or a sensing and computing device associated with the vehicle 600 (e.g., computing system 631, computing platform 650) may predict the behavior of the identified object based on the characteristics of the identified object and the state of the surrounding environment (e.g., traffic, rain, ice on a road, etc.). Alternatively, each identified object depends on each other's behavior, so all of the identified objects can also be considered together to predict the behavior of a single identified object. The vehicle 600 is able to adjust its speed based on the predicted behavior of the identified object. In other words, the autonomous car is able to determine what steady state the vehicle will need to adjust to (e.g., accelerate, decelerate, or stop) based on the predicted behavior of the object. In this process, other factors may also be considered to determine the speed of the vehicle 600, such as the lateral position of the vehicle 600 in the road on which it is traveling, the curvature of the road, the proximity of static and dynamic objects, and so forth.
In addition to providing instructions to adjust the speed of the autonomous vehicle, the computing device may also provide instructions to modify the steering angle of the vehicle 600 so that the autonomous vehicle follows a given trajectory and/or maintains safe lateral and longitudinal distances from objects in the vicinity of the autonomous vehicle (e.g., vehicles in adjacent lanes on a roadway).
In some embodiments, the disclosure further provides a computer readable storage medium, where a program corresponding to the early warning method based on network management of the power deficiency is stored on the storage medium, and when the program is executed by a processor, the steps of the early warning method based on network management of the power deficiency described in the foregoing embodiments are implemented.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples.
It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application for the embodiment. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly understand that the embodiments described herein may be combined with other embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. The utility model provides a network management deficiency of power early warning method which is characterized in that the method comprises the following steps:
the method comprises the steps of defining a network management message for a controller with network management of the whole vehicle, wherein the network management message definition comprises the steps of distributing different node address bits and dormancy wakeup state bits for each controller;
when the whole vehicle power supply is in a closed state, acquiring the network management message sent by each controller;
acquiring a message analysis database file which is set for identifying the controller identification information in the network management message;
analyzing the network management message based on the message analysis database file, and judging whether the corresponding controller is in a sleep abnormal state or not;
if the mobile device is in the sleep abnormal state, the address information of the controller is analyzed according to the network management message, a sleep abnormal signal is generated, and the sleep abnormal signal is sent to the mobile device to execute early warning.
2. The network management deficiency electricity early warning method according to claim 1, wherein in the step of defining the network management message by the controller with network management at the opposite vehicle end, the method further comprises:
the network management message is generated based on OSKE network management, and the type of the network management message is defined to comprise an Alive message, a Ring message and a limpHome message; and
and defining that the network management message operation code data bit comprises a three-byte message flag bit, a sleepInd information bit and a sleepACK information bit.
3. The network management deficiency early warning method according to claim 2, wherein the step of defining the network management message operation code data bits includes three-byte message flag bits, sleepInd information bits and SleepACK information bits, including:
the data bits of the network management message include: the first byte is an Alive message flag bit, the second byte is a Ring message flag bit, the third byte is a LimpHome message flag bit, the fifth byte is a sleep indication bit of the node, the sixth byte is a sleep confirmation bit of the Ring message of the node, and the fourth, seventh and eighth bytes are reserved bits.
4. The network management deficiency power early warning method according to claim 1, wherein the network management message definition is performed by the controller with network management at the opposite vehicle end, and the network management message definition includes the steps of allocating different node address bits and dormancy wakeup state bits to each controller, and further includes:
Defining a gateway of the whole vehicle, wherein the gateway receives the network management message sent by each controller, and determines dormancy and awakening states of node networks of all network segments according to the network management message.
5. The method for early warning of power deficiency based on network management according to claim 1, wherein the step of obtaining the network management message sent by each controller with network management when the whole vehicle power supply is in a turned-off state comprises:
when the whole vehicle power supply is in a closed state, based on the gateway, receiving all the network management messages participating in the direct network management node, judging whether the network management messages sent by a certain controller are not received or not at intervals of a first preset time;
if yes, modifying a state signal corresponding to the ECU in the network management message sent by the non-received controller;
integrating and forwarding the network management message to a vehicle-mounted T-BOX every second preset time according to the actual state of node network management;
and the vehicle-mounted T-BOX sends the received network management message to a big data platform in real time.
6. The network management power shortage early warning method according to claim 1, wherein the step of analyzing the network management message based on the message analysis database file to determine whether the corresponding controller is in a sleep abnormal state includes:
Extracting node addresses of each network management message, and sequencing the network management messages from high address to low address according to the node addresses;
and analyzing the message analysis database file and the sequenced flag bits of the network management messages one by one, and judging whether the controller corresponding to the network management messages is in a sleep abnormal state or not.
7. The method for early warning of power shortage based on network management according to claim 6, wherein the step of analyzing the flag bits of the network management message one by one based on the message analysis database file and the sequenced flag bits to determine whether the controller corresponding to the network management message is in a sleep abnormal state includes:
judging whether the network management message is a Ring message or not from a high address to a low address in sequence;
if the network management message is a Ring message, judging whether the corresponding controller is in a to-be-dormant state according to a sleep Ind information bit of the operation code Ring message;
if the sleep Ind information bit is 1, the controller corresponding to the Ring message is in a state to be dormant;
if the network management message is a non-Ring message or the sleep ind information bit is 0, the controller corresponding to the Ring message is in a sleep abnormal state.
8. Based on network management deficiency of power early warning device, characterized in that includes:
the first acquisition module is used for acquiring the network management message sent by each controller with network management when the whole vehicle power supply is in a closed state;
the second acquisition module is used for acquiring a message analysis database file set for the controller identification information in the network management message;
the judging module is used for analyzing the message analysis database file and the sequenced flag bits of the network management messages one by one to determine whether the controller corresponding to the network management message is in a sleep abnormal state or not;
and the execution module is used for analyzing the address information of the controller and generating a dormancy abnormal signal according to the network management message if the controller is in the dormancy abnormal state according to the judgment result of the judgment module, and sending the dormancy abnormal signal to a preset terminal.
9. A vehicle comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the network management-based power deficit pre-warning method according to any of claims 1 to 7.
10. A computer readable storage medium, wherein a computer program corresponding to a vehicle electric side sliding door testing method is stored on the readable storage medium, and when the computer program is executed by a processor, the computer program realizes the steps of the network management deficiency power based early warning method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311535264.2A CN117579668A (en) | 2023-11-17 | 2023-11-17 | Early warning method and device based on network management of insufficient power, vehicle and readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311535264.2A CN117579668A (en) | 2023-11-17 | 2023-11-17 | Early warning method and device based on network management of insufficient power, vehicle and readable storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117579668A true CN117579668A (en) | 2024-02-20 |
Family
ID=89863796
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311535264.2A Pending CN117579668A (en) | 2023-11-17 | 2023-11-17 | Early warning method and device based on network management of insufficient power, vehicle and readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117579668A (en) |
-
2023
- 2023-11-17 CN CN202311535264.2A patent/CN117579668A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11823568B2 (en) | Dynamic speed limit for vehicles and autonomous vehicles | |
| CN115348657B (en) | System and method for vehicle time synchronization and vehicle | |
| US11586270B1 (en) | Low-power modes for a vehicle telematics device | |
| CN113859265B (en) | Reminding method and device in driving process | |
| US10683002B2 (en) | Efficient acceleration from surrounding vehicles | |
| US10507799B1 (en) | Vehicle location tracking | |
| US11578978B1 (en) | Systems and methods for associating a telematics device with an asset tracker | |
| CN115123257B (en) | Pavement deceleration strip position identification method and device, vehicle, storage medium and chip | |
| CN115179879B (en) | Vehicle self-wake-up method and device, vehicle and storage medium | |
| CN115938148A (en) | Intelligent vehicle navigation system and control logic for driving event detection in low/no connected region | |
| CN114937351B (en) | Motorcade control method and device, storage medium, chip, electronic equipment and vehicle | |
| CN115056784B (en) | Vehicle control method, device, vehicle, storage medium and chip | |
| CN115407344B (en) | Grid map creation method, device, vehicle and readable storage medium | |
| CN115297461B (en) | Data interaction method and device, vehicle, readable storage medium and chip | |
| CN115202234B (en) | Simulation test method and device, storage medium and vehicle | |
| CN115221151B (en) | Vehicle data transmission method and device, vehicle, storage medium and chip | |
| CN114771539B (en) | Vehicle lane change decision method and device, storage medium and vehicle | |
| CN115871523A (en) | Battery heating method, device, vehicle, readable storage medium and chip | |
| CN117579668A (en) | Early warning method and device based on network management of insufficient power, vehicle and readable storage medium | |
| CN115334109A (en) | System architecture, transmission method, vehicle, medium and chip for traffic signal identification | |
| JP2010284996A (en) | Vehicle travel control apparatus | |
| CN114327842A (en) | Multitask deployment method and device | |
| CN116022029B (en) | Charging cover opening method and device, vehicle, readable storage medium and chip | |
| US12106671B1 (en) | Device and method for asset platform determination for an asset with a multi-interface port | |
| US20240214266A1 (en) | Dynamic switching of bluetooth le phy for extended non-connectable advertisements |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |