CN220904888U - Control device, control system, and vehicle - Google Patents

Abstract

The utility model discloses a control device, a control system and a vehicle, wherein the control device comprises a plurality of sensor processing units and a main board processing unit, the sensor processing unit is used for receiving and processing signals output by sensors arranged on the vehicle and outputting the processed signals, and the main board processing unit is respectively connected with the plurality of sensor processing units and used for receiving and processing the signals processed by the plurality of sensor processing units and outputting corresponding control signals to an actuator arranged on the vehicle so as to control the actuator. The input interface of the main board processing unit is used for receiving the signals processed by the sensor processing unit, and the signals of the sensor are not directly received, so that signal connecting wires and connecting plug-ins required by the main board processing unit are greatly reduced, a plurality of spaces on a PCB (printed circuit board) can be saved, the problems of conduction interference and radiation caused by too many connecting wires are also reduced, and the stability of vehicle operation is improved.

Description

Control device, control system, and vehicle

Technical Field

The present utility model relates to the field of vehicle technologies, and more particularly, to a control device, a control system, and a vehicle.

Background

In the related art, a domain controller on a vehicle is responsible for monitoring the states and realizing functions of a plurality of parts of the vehicle, and needs to be connected to a vehicle body domain controller by adopting a plurality of signal connecting wires, and the domain controller needs to be provided with a plurality of connecting plug-ins which are connected to a control main board of the vehicle body domain controller, so that more space on a PCB (printed circuit board) can be occupied, and the problem of interference and radiation can be caused by excessive connecting wires, thereby influencing the stability of vehicle products.

Disclosure of utility model

The embodiment of the utility model provides a control device, a control system and a vehicle.

The control device provided by the embodiment of the utility model comprises a plurality of sensor processing units and a main board processing unit, wherein the sensor processing units are used for receiving and processing signals output by sensors arranged on a vehicle and outputting the processed signals, and the main board processing unit is respectively connected with the plurality of sensor processing units and used for receiving and processing the signals processed by the plurality of sensor processing units and outputting corresponding control signals to an actuator arranged on the vehicle so as to control the actuator.

In some embodiments, the control device further includes an ethernet transceiver, where the ethernet transceiver is connected to the sensor processing unit and the motherboard processing unit, and the ethernet transceiver is configured to transmit signals of the sensor processing unit to the motherboard processing unit through ethernet.

In some embodiments, the motherboard processing unit and the plurality of sensor processing units are connected by unshielded twisted pair wires.

In some embodiments, the sensor processing unit includes a signal acquisition circuit and a single-chip microcomputer, where the signal acquisition circuit is used to acquire signals transmitted by the sensor and output the signals to the single-chip microcomputer, and the single-chip microcomputer is used to process the signals transmitted by the sensor.

In some embodiments, the signal acquisition circuit is configured to wake up the singlechip to operate when the signal output by the sensor is identified.

In some embodiments, the signal acquisition circuit is further configured to detect a signal state transmitted by the sensor and output a corresponding detection signal to the single chip microcomputer, and the single chip microcomputer is further configured to determine an abnormal state of the signal transmitted by the sensor according to the detection signal and output a corresponding warning signal to the main board processing unit.

In some embodiments, the signal acquisition circuit includes a plurality of signal acquisition chips connected by a daisy chain pattern.

In some embodiments, the redundant circuit includes a redundant sensor processing unit and a redundant ethernet transceiver, where the redundant sensor processing unit is configured to process a signal output by the sensor, and output the processed signal to the motherboard processing unit through the redundant ethernet transceiver.

An embodiment of the present utility model provides a control system, where the control system includes a plurality of sensors, a plurality of actuators, and a control device according to any one of the foregoing embodiments, where the control device is configured to control the actuators according to signals from the sensors.

In certain embodiments, the sensor comprises at least one of a position sensor, a temperature sensor, and an illumination sensor, and the actuator comprises a switch and a drive circuit for the motor load.

An embodiment of the present utility model provides a vehicle including a vehicle body and the control system of any one of the above embodiments, the control system being provided on the vehicle body.

In the control device, the control system and the vehicle according to the embodiment of the utility model, a plurality of sensor processing units are provided, each sensor processing unit can process a part of sensor signals and transmit the processed signals to the main board processing unit, and the main board processing unit processes all the signals processed by the sensor processing units for the second time. The main board processing unit receives and processes the signals processed by the sensor processing unit and outputs corresponding control signals to control an actuator arranged on the vehicle. The input interface of the main board processing unit is used for receiving the signals processed by the sensor processing unit instead of directly receiving the signals of the sensor, so that signal connecting wires and connecting plug-ins needed by the main board processing unit are greatly reduced, a plurality of spaces on a PCB (printed circuit board) can be saved, the problems of conduction interference and radiation caused by too many connecting wires are also reduced, and the stability of the control device for managing the vehicle operation is improved. Additional aspects and advantages of the utility model 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 utility model.

Drawings

The foregoing and/or additional aspects and advantages of the present utility model will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

FIG. 1 is a schematic diagram of a control device according to an embodiment of the present utility model;

FIG. 2 is a schematic diagram of a sensor processing unit according to an embodiment of the present utility model;

FIG. 3 is a schematic circuit diagram of the interior of an Ethernet transceiver of an embodiment of the utility model;

fig. 4 is a schematic diagram of SPI timing of an ethernet transceiver according to an embodiment of the present utility model.

Fig. 5 is a schematic circuit diagram of a single chip microcomputer and an ethernet transceiver according to an embodiment of the present utility model.

Detailed Description

Embodiments of the present utility model are described in detail below, which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present utility model and are not to be construed as limiting the present utility model.

In the related technical field, an automotive domain centralized electronic electric architecture refers to an architecture which is constructed by dividing an automobile into a plurality of functional blocks according to functions, wherein each functional block takes a domain controller as a leading part, and a plurality of domain controllers are needed for realizing management of a whole automobile system. The domain-centralized architecture may include a body domain, a driving domain, a cabin domain, a power domain, a chassis domain. The interaction between the domains makes the wiring harness more complex and the reaction speed of the control chip is limited. The same time length harness presents a certain impact on cost, conducted radiation and interference.

Taking the automobile body domain controller as an example, the automobile body domain controller is responsible for the state monitoring and the function realization of a plurality of parts of the automobile body, needs to be connected to the automobile body domain controller by adopting a plurality of signal connecting wires, and the domain controller needs to be provided with a plurality of connecting plug-ins which are connected to a control main board of the automobile body domain controller, so that a plurality of spaces on a PCB (printed circuit board) can be occupied, and the requirements of interfaces are met by the plurality of layers of PCB. The size signal and the high and low voltage are arranged on the PCB, so that the additional conduction interference and radiation are necessarily generated mutually, the failure probability of the sensitive signal is greatly increased, and the stability of the product is greatly reduced.

Referring to fig. 1, an embodiment of the present utility model provides a control device 100, which includes a plurality of sensor processing units 10, wherein the sensor processing units 10 are configured to receive and process signals output by sensors 20 disposed on a vehicle, and output the processed signals to a main board processing unit 30, and the main board processing unit 30 is respectively connected to the plurality of sensor processing units 10, and is configured to receive and process signals processed by the plurality of sensor processing units 10, and output corresponding control signals to an actuator 40 disposed on the vehicle, so as to control the actuator 40.

Specifically, the sensor processing unit 10 has a corresponding signal receiving end, and is configured to receive a signal transmitted to the sensor processing unit 10 by the sensor 20 disposed on the vehicle, where the signal transmitted by the sensor 20 may be a signal detected by the sensor 20, such as a detected temperature, a detected pressure, and a detected light intensity, the signal transmitted by the sensor 20 may also be a signal reflecting an operating state of the sensor 20, such as a signal output by the sensor 20 when the sensor 20 is short-circuited and powered down, the signal output by the sensor 20 may also reflect an operating state of the vehicle, such as an illumination sensor disposed on a vehicle lamp may reflect an operating state of the vehicle lamp, and a temperature sensor disposed on a vehicle heat dissipation device may reflect a heat dissipation state of the vehicle. The sensor processing units 10 are provided in plurality, and a processor for a part of sensor signals is arranged on each sensor processing unit 10 to process signals output by the sensors 20, so that the problems of conduction interference and radiation caused by too many signal transmission lines on one sensor processing unit 10 can be avoided. The sensor processing unit 10 is a general high-speed response and transmission module, which is based on a model platform design, and the signal connection terminals of the sensor processing unit 10 do not need to distinguish names of signals when in use, but strict requirements are imposed on the ordering of signal types at each connection port, such as digital signals from 1 st pin to 25 th pin, analog signals from 26 th pin to 35 th pin, and strict requirements are imposed on the output resistance, capacitance, voltage range and tolerance of the connection terminals. The sensor processing units 10 are commonly used for providing the front, rear, left and right of the whole vehicle. All the sensor processing units 10 output the processed signals to the main board processing unit 30, and a processor for the sensor signals may not be required to be additionally provided on the main board processing unit 30. The actuator may be a switch of a circuit module in the vehicle, or a driving circuit of a motor load in the vehicle, and the main board processing unit 30 may directly determine whether the signal is in a trigger state and the binary bit of the byte is 1 or 0 by reading byte information in the signal processed by the sensor processing unit 10, so as to determine whether a corresponding control signal needs to be output, and control on/off of the corresponding trigger switch or control the rotation speed of the corresponding motor load.

The signals processed by the sensor processing unit 10 can be signals which are easily identified and processed by the main board processing unit 30, so that the transmission interfaces required by the main board processing unit 30 are fewer, the transmission rate becomes high, more information can be transmitted faster, the operation processing speed of the whole vehicle main board processing unit 30 is improved, and the requirement of high-speed operation is met. The input interface of the main board processing unit 30 is used for receiving the signals processed by the sensor processing unit 10, instead of directly receiving the signals of the sensor 20, which is equivalent to transferring some connection ports for receiving the signals of the sensor to the sensor processing unit 10, and the main board processing unit 30 needs fewer transmission interfaces, so that the occupied space on the PCB is reduced, the number of laminates required by the PCB is also reduced, the design cost of the PCB is reduced, the problems of conduction interference and radiation caused by too many connection lines are also reduced, the reliability of the control actuator of the main board processing unit 30 is improved, and the stability of the vehicle operation is also improved.

Therefore, the sensor processing unit 10 is arranged to process the signals of the sensor 20, so that the transmission interface required by the main board processing unit 30 can be reduced, the occupied space on the PCB is reduced, the design cost of the PCB is reduced, the problems of conduction interference and radiation caused by too many connecting lines are also reduced, and the stability of the product is greatly improved. The function of transmitting most of the sensor signals of the vehicle at a high speed of 10M at a distance of 2M or more from the sensor processing unit 10 to the main board processing unit 30 can be achieved.

Referring to fig. 2, in some embodiments, the control device 100 further includes an ethernet transceiver 50, where the ethernet transceiver 50 is connected to the sensor processing unit 10 and the motherboard processing unit 30, and the ethernet transceiver 50 is used to transmit signals of the sensor processing unit 10 to the motherboard processing unit 30 through ethernet.

Specifically, the signal lines adopted by the Ethernet transmission mode are fewer, the conducted radiation and the conducted interference are superior to those of discrete multipath digital signals, and the signal robustness is better. The sensor processing unit 10 processes the signal. Signals may be transmitted to the ethernet through the ethernet transceiver 50 in the open alliance MACPHY SPI protocol, the ethernet transceiver 50 may be disposed between the sensor processing unit 10 and the main board processing unit 30, and the ethernet transceiver 50 may also be disposed on the sensor processing unit 10. The signal output on the sensor processing unit 10 is transmitted to the main board processing unit 30 through the ethernet transceiver 50.

Referring to fig. 3, the circuit schematic diagram of the ethernet transceiver 50 may be shown, and the ethernet transceiver 50 may be a transceiver conforming to IEEE802.3G standard, where the ethernet transceiver 50 has a 10BASE-T1S interface, uses a medium used for ethernet with 10Mbit/S to transmit signals instead of CAN, so as to increase the signal transmission rate, and support an electronic electrical architecture that matches high performance and high computation power. The fastest start-up time of the ethernet transceiver 50 is less than 100ms. The ethernet transceiver 50 requires a 3.3V power supply to supply power, can support more than 8 nodes to communicate, and supports a wiring length exceeding 25 meters, and is a green lead-free device, so as to ensure that computer information is not attacked, and support an encryption algorithm on software. The timing diagram of the ethernet transceiver 50 communicating in the SPI protocol can be seen in fig. 4, where when the transceiver information is transmitting a signal, the signal can reach robustness above the ASIL B level, the count is incremented every time the signal is transmitted, and a security policy is added to each frame of data and then inverted. And with the interval time requirement and the frame number requirement, if the same frame number is insufficient or exceeded in the target time, it is regarded as garbage discarding. Thus, the robustness of the signal in transmitting can reach above ASIL B level.

In this way, the sensor processing unit 10 can transmit the processed signals to the main board processing unit 30 through the ethernet transceiver 50, and the signal lines adopted by the ethernet transmission mode are fewer, so that both the conducted radiation and the conducted interference are better than those of discrete multipath digital signals, and the signal robustness is better.

In some embodiments, the motherboard processing unit and the plurality of sensor processing units are connected by unshielded twisted pair wires.

Specifically, the unshielded twisted pair (Unshielded TWISTED PAIR, UTP) is a cable composed of two twisted fine copper wires, and is applied to communication in the field of Ethernet. The wires inside each twisted wire pair are finely twisted together, and the two twisted wires are tightly twisted. This particular configuration may enable the cable of the signal transmission line to reduce signal distortion, as well as signal crosstalk and external electromagnetic field interference. Furthermore, the cable is more flexible and pliable relative to other cables due to the absence of the shielding layer.

Therefore, the unshielded twisted pair is adopted as a cable for signal transmission, so that signal crosstalk and external electromagnetic field interference can be reduced, and the anti-interference performance of signals between the main board processing unit and the sensor processing unit is improved.

Referring to fig. 2, in some embodiments, the sensor processing unit includes a signal acquisition circuit and a singlechip, where the signal acquisition circuit is configured to acquire a signal output by the sensor and output the signal to the singlechip, and the singlechip is configured to process the signal output by the sensor.

Specifically, the signal acquisition circuit 11 can realize the function of acquiring signals through a signal acquisition chip, including the acquisition of analog signals, digital signals and duty ratios, and the inside of the signal acquisition chip can use a comparator to realize the signal transmission of small current and long distance, so that the radiation during the signal transmission can be greatly reduced, and the anti-interference capability of conduction is greatly enhanced. The signal acquisition chip supports a signal voltage range of-24V to 40V, and the remote mode can adapt to static attack of more than +/-15 KV, supports daisy chain control and has ultra-low power consumption sleeping current. The signal acquisition chip and the singlechip 12 are communicated by SPI protocol, the frequency can reach 8MHz, the signal acquisition chip transmits the acquired signal to the singlechip 12, and the singlechip 12 processes the signal and then transmits the signal to the main board processing unit 30.

Thus, the signal acquisition circuit 11 is used for acquiring sensor signals, and the singlechip 12 is used for processing the signals.

In some embodiments, the signal acquisition circuit 11 is configured to wake up the singlechip 12 when it recognizes that the sensor 20 transmits a signal.

Specifically, when the signal acquisition circuit 11 does not recognize the signal of the sensor 20, the singlechip 12 is in a sleep state. The signal acquisition circuit 11 is provided with an enabling control end, and when the signal acquisition circuit 11 recognizes a sensor signal, a corresponding enabling control signal is output to wake up the singlechip 12, so that the singlechip 12 starts to work. After being awakened, the singlechip 12 can transmit an awakening signal through a network to enable the whole control device 100 to be awakened, so that the control device 100 starts to work.

The singlechip 12 is provided with a control pin for controlling the wake-up function of the singlechip, and when the signal acquisition circuit 11 recognizes a sensor signal, the enabling control end of the signal acquisition circuit 11 wakes up the singlechip 12 by outputting a control signal to the control pin of the singlechip 12.

In this way, when the signal acquisition circuit 11 recognizes the signal from the sensor 20, it wakes up the singlechip 12 in the sleep state, and further wakes up the entire control device 100, so that the control device 100 starts to operate.

In some embodiments, the signal acquisition circuit 11 is further configured to detect a state of the signal transmitted by the sensor 20 and output a corresponding detection signal to the singlechip 12, and the singlechip 12 is further configured to determine an abnormal state of the signal transmitted by the sensor 20 according to the detection signal and output a corresponding alarm signal to the main board processing unit 30.

Specifically, the signal acquisition circuit 11 can detect the state of the transmission signal and distinguish whether the transmission is normal, or short-circuited to ground, or short-circuited to positive or open-circuited. The signal acquisition circuit 11 periodically reports different states of the signal to the singlechip 12, the singlechip 12 can determine a faulty signal according to the state of the transmitted signal, and output a corresponding warning signal to the main board processing unit 30 to prompt the occurrence of an abnormal phenomenon, and the fault response speed is within 50 ms.

The connection relationship between the singlechip 12 and the main board processing unit 30 can refer to fig. 5, and the singlechip 12 supports online refreshing, has a main frequency of more than 112MHz, and can support more than 3 paths of SPI communication. The single chip microcomputer 12 can quickly convert the communication of the signal acquisition circuit 11 into an input signal to the main board processing unit 30, and can also detect an abnormality of the input signal and alarm the main board processing unit 30 when necessary.

Thus, the singlechip 12 can effectively realize the fault detection of key signals and the requirement of fault type reporting, and improves the safety of signal transmission.

In some embodiments, the signal acquisition circuit 11 includes a plurality of signal acquisition chips connected by a daisy chain pattern.

Specifically, each of the signal acquisition chips in the signal acquisition circuit 11 may be used to acquire one signal, including acquisition of analog signals, digital signals, and duty cycles, with all the signal acquisition chips connected together in a daisy-chain mode, with data propagating from one signal acquisition chip to the next. In this configuration, all signal acquisition chips receive the same signal at the same time, the signal is sent directly to the first signal acquisition chip, which in turn provides data to the lower signal acquisition chip, and so on. The signal acquisition circuit 11 can support the detection of a plurality of signals by using a relatively small number of connecting wires, the problems of bus competition, blockage and the like are avoided, and the signal acquisition circuit 11 has the advantage of ultra-low power consumption during sleeping.

In this way, the plurality of signal acquisition chips are connected in a daisy chain fashion, and the signal acquisition circuit 11 can support the detection of a plurality of signals with relatively few connection lines.

In some embodiments, the redundant circuit includes a redundant sensor processing unit and a redundant ethernet transceiver, where the redundant sensor processing unit is configured to process the signal transmitted by the sensor 20, and output the processed signal to the motherboard processing unit 30 through the redundant ethernet transceiver.

In particular, the redundancy circuit can provide a backup signal input, signal processing, and signal output path. When the original circuit structure is abnormal, the signal of the sensor 20 can be processed by the sensor processing unit 10 and the main board processing unit 30 in the redundant circuit, and the higher the safety level of the system function is, the more the redundant circuit is required to be arranged. When the functional safety signal is in an abnormal state, the functional safety requirement level of the singlechip 12 is ASIL B or above. When the processed signal safety requirement level is ASIL C or ASIL D, a corresponding redundant circuit is arranged.

Thus, by providing the redundant circuit, when the original circuit structure is abnormal, the signal of the sensor 20 can be processed by the sensor processing unit 10 and the main board processing unit 30 in the redundant circuit, so that the safety level of the system function is improved.

The embodiment of the present utility model provides a control system, which includes a plurality of sensors 20, a plurality of actuators 40, and the control device 100 of any of the above embodiments, where the control device 100 is configured to control the actuators 40 according to signals from the sensors 20.

Specifically, in one control system, the main board processing unit 30 includes a processor of a main core, such as a core chip of a central gateway, HUD processing, image processing, autopilot data processing, or the like. The sensor processing unit 10 includes a chip for processing sensor signals, signals of all sensors 20 in the control system are processed by the sensor processing unit 10 and then transmitted to the main board processing unit 30, and the main board processing unit 30 outputs corresponding control signals to the corresponding actuator 40 according to the processing result of each sensor processing unit 10 so as to control the actuator 40, so that transmission interfaces required by the main board processing unit 30 can be reduced, occupation space on a PCB (printed circuit board) is reduced, and design cost of the PCB is reduced.

In this way, the control system uses the control device 100 of any one of the above embodiments, so that the transmission interfaces required by the main board processing unit 30 in the control system are reduced, the problems of conduction interference and radiation caused by too many connection lines are reduced, and the stability of the control system is improved.

In certain embodiments, the sensor 20 comprises a position sensor, a temperature sensor, and an illumination sensor, and the actuator 40 comprises a drive circuit that executes a switch and a motor load.

In particular, the position sensor may be used to detect the position of various components of the vehicle, such as the position of an exterior rear view mirror. The temperature sensor may detect the temperature of various components of the vehicle, such as the temperature of the primary seat cushion and the primary backrest. The illumination sensor may detect the illumination intensity of various components of the vehicle, such as the illumination intensity of a vehicle lamp. The implement switch may be a switch for controlling various components of the vehicle and the motor load may be a load on the vehicle. The control system can quickly control the actuator 40 based on the data reflected by each sensor 20.

As described above, the control system uses the control device 100 according to any of the above embodiments, and the control device 100 can be applied to a vehicle, so that the stability of the vehicle operation can be improved.

An embodiment of the present utility model provides a vehicle, which includes the control system of any one of the embodiments and a vehicle body, and the control system is disposed on the vehicle body.

Specifically, in the vehicle control system, the main board processing unit 30 is mainly provided with one sensor processing unit 10 each in front left and right, rear left and right, and middle left and right of the entire vehicle. The signal is transmitted by adopting a medium used by 10Mbit/s Ethernet to replace the communication mode of CAN, the sensor processing unit 10 transmits the signal state of the whole vehicle to the main board processing unit 30 through the network speed of 10base, and the main board processing unit 30 finishes data calculation with the calculation power of 1000tops and sends out required control signals to the corresponding driving modules.

In a vehicle control system, a plurality of control systems may be included, each of which is capable of performing a portion of the functions of the vehicle, supporting a portion of the operation of the vehicle. For example, a chassis domain control system of a vehicle is composed of a transmission system, a running system, a steering system and a braking system together for realizing running and braking functions of the vehicle. The body area control system of the vehicle integrates the functions of various devices such as a car lamp, a door lock, a car window, a trunk and an air conditioner of the vehicle.

In this way, the vehicle uses the control system of any one of the embodiments, so that the main board processing unit 30 can quickly calculate the information of all the sensors 20 of the whole vehicle and quickly control the corresponding load.

In the control device 100, the control system and the vehicle according to the embodiments of the present utility model, the first communication module 10 can be used to transmit the signal of the sensor 20 on the vehicle to the sensor processing unit 10, and the sensor processing unit 10 is provided with a plurality of sensor processing units, and each sensor processing unit 10 can process a part of the sensor signal and transmit the processed signal to the main board processing unit 30, and the main board processing unit 30 processes all the signals processed by the sensor processing unit 10 for the second time. The input interface of the main board processing unit 30 is used for receiving the signals processed by the sensor processing unit 10, instead of directly receiving the signals of the sensor 20, which is equivalent to transferring some connection ports for receiving the sensor signals to the sensor processing unit 10, and the main board processing unit 30 has fewer transmission interfaces, so that the occupied space on the PCB is reduced, the number of laminates required by the PCB is also reduced, the design cost of the PCB is reduced, the problems of conduction interference and radiation caused by too many connection lines are also reduced, and the stability of the product is greatly improved.

In the description of the present specification, reference is made to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., meaning 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 utility model. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Furthermore, the term "coupled" is to be broadly interpreted and includes, for example, either permanently coupled, detachably coupled, or integrally coupled; can include direct connection, indirect connection through intermediate media, and communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present utility model, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present utility model in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order from that shown or discussed, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present utility model.

While embodiments of the present utility model have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the utility model, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the utility model.

Claims (11)

1. A control device, characterized in that the control device comprises:

The sensor processing units are used for receiving and processing signals output by sensors arranged on the vehicle and outputting the processed signals;

And the main board processing unit is respectively connected with the plurality of sensor processing units, and is used for receiving and processing the signals processed by the plurality of sensor processing units and outputting corresponding control signals to an actuator arranged on the vehicle so as to control the actuator.

2. The control device according to claim 1, further comprising an ethernet transceiver connected to the sensor processing unit and the motherboard processing unit, respectively, the ethernet transceiver being configured to transmit signals of the sensor processing unit to the motherboard processing unit via ethernet.

3. The control device of claim 1, wherein the motherboard processing unit and the plurality of sensor processing units are connected by unshielded twisted pair wires.

4. The control device according to claim 1, wherein the sensor processing unit comprises a signal acquisition circuit and a single-chip microcomputer, the signal acquisition circuit is used for acquiring signals output by the sensor and outputting the signals to the single-chip microcomputer, and the single-chip microcomputer is used for processing the signals output by the sensor.

5. The control device of claim 4, wherein the signal acquisition circuit is configured to wake up the single-chip microcomputer to operate when the signal output by the sensor is identified.

6. The control device according to claim 4, wherein the signal acquisition circuit is further configured to detect a signal state output by the sensor and output a corresponding detection signal to the single-chip microcomputer, and the single-chip microcomputer is further configured to determine an abnormal state of the signal output by the sensor according to the detection signal and output a corresponding warning signal to the main board processing unit.

7. The control device of claim 4, wherein the signal acquisition circuit comprises a plurality of signal acquisition chips connected by a daisy chain pattern.

8. The control device according to claim 1, further comprising a redundancy circuit including a redundancy sensor processing unit for processing the signal output from the sensor and a redundancy ethernet transceiver for outputting the processed signal to the main board processing unit.

9. A control system comprising a plurality of sensors, a plurality of actuators and a control device according to any one of claims 1-8, the control device being arranged to control the actuators in dependence on signals of the sensors.

10. The control system of claim 9, wherein the sensor comprises at least one of a position sensor, a temperature sensor, and an illumination sensor, and the actuator comprises a drive circuit for a switch and/or a motor load.

11. A vehicle comprising a vehicle body and the control system of claim 9 or 10, the control system being disposed on the vehicle body.