WO2024026593A1 - 一种协同控车方法及相关装置 - Google Patents

一种协同控车方法及相关装置 Download PDF

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Publication number
WO2024026593A1
WO2024026593A1 PCT/CN2022/109302 CN2022109302W WO2024026593A1 WO 2024026593 A1 WO2024026593 A1 WO 2024026593A1 CN 2022109302 W CN2022109302 W CN 2022109302W WO 2024026593 A1 WO2024026593 A1 WO 2024026593A1
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Prior art keywords
network element
processing
information
data
processed
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English (en)
French (fr)
Inventor
许利霞
梅增辉
杨伟
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Huawei Technologies Co Ltd
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Huawei Technologies Co Ltd
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Priority to CN202280096231.XA priority Critical patent/CN119213409A/zh
Priority to PCT/CN2022/109302 priority patent/WO2024026593A1/zh
Publication of WO2024026593A1 publication Critical patent/WO2024026593A1/zh
Anticipated expiration legal-status Critical
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/60—Software deployment
    • G06F8/65—Updates
    • 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

Definitions

  • the present application relates to the field of intelligent driving technology, and in particular to a collaborative vehicle control method and related devices applied to intelligent driving vehicles.
  • An intelligent driving system is a system that provides assistance to drivers, including providing important or useful driving-related information.
  • the intelligent driving system is deployed on a domain controller, accesses sensors such as radars and cameras to obtain data, and implements corresponding control of the chassis domain and power domain through local calculation and decision-making.
  • the improvement of chip computing power has brought about the improvement of the decision-making performance of the intelligent driving system, providing new functional features for drivers.
  • the embodiments of the present application provide a collaborative vehicle control method and related devices, which offload part of the processing logic from the intelligent driving system to the vehicle-mounted gateway, and use the vehicle-mounted gateway to cooperate with the intelligent driving system to complete logic processing, which can save the inventory of the old chip's intelligent driving system.
  • the car can also support new features provided by chip updates.
  • embodiments of the present application provide a collaborative vehicle control method, which method includes:
  • the first network element obtains the first data to be processed
  • the first network element performs a first process on the first data to be processed, and obtains a first processing result
  • the first network element sends the first processing result to the second network element, and the first processing result is used by the second network element to perform vehicle control, wherein the second network element includes not executing the The first processing network element, or the second network element is a network element that does not execute the first processing unit;
  • the first network element performs vehicle control according to the first processing result, and the first network element includes a vehicle-mounted gateway.
  • a coordinated vehicle control method obtains the first data to be processed.
  • the first data to be processed may be directly sent to the first network element by the sensing network element, or may be sent by the sensing network element.
  • the network element sends it to the second network element, and the second network element determines whether the first to-be-processed data belongs to the processing logic part that is offloaded to the first network element. In the case of processing the logical part, the second network element then sends the first data to be processed to the first network element.
  • the first network element performs the first processing on the acquired first data to be processed, obtains the first processing result, and sends the first processing result to the second network element.
  • the second network element can perform the first processing according to the first processing result.
  • the vehicle control function can also be realized by sending the first processing result to other network elements, where the first network element includes a network element with the ability to perform the first processing and communication capabilities, and the second network element The element is a network element that does not perform the first processing.
  • the first network element can directly control the vehicle based on the first to-be-processed result, where the first network element includes a network element with the ability to perform the first processing and communication capabilities, such as a vehicle-mounted gateway.
  • the current stock cars equipped with the second network element cannot support the new features provided by the chip update of the second network element.
  • the embodiment of the present application offloads part of the processing logic from the second network element to the first network element, that is, the first network element performs the first processing on the first data to be processed, and uses the first network element to Collaborating with the second network element to complete logical processing can enable the existing vehicles equipped with the second network element to support new functions and features provided by the chip update of the second network element, and can also solve the problem of insufficient computing resources of the second network element.
  • the second network element further includes a network element that does not have the ability to perform the first process.
  • the second network element also includes a network element that does not have the ability to perform the first process, wherein the second network element does not have the ability to perform the first process.
  • a network element capable of the first processing can be understood as a possible situation of a network element that does not perform the first processing.
  • the second network element can be an intelligent driving domain controller, an intelligent cockpit domain controller, a vehicle domain controller, etc.
  • the second network element may fail due to chip update of the second network element or insufficient computing resources of the second network element.
  • the network element does not have the ability to perform the first processing.
  • part of the processing logic is offloaded from the second network element to the first network element, and the first network element is used to cooperate with the second network element to complete the logical processing, which can solve the problem that the second network element does not have the ability to perform the first processing. problem, so that existing vehicles equipped with the second network element can also support new functions and features provided by the chip update of the second network element.
  • the method before performing the first processing on the first data to be processed, the method further includes:
  • the first information it is determined to perform the first processing on the first data to be processed; wherein the first information is used to indicate performing the first processing.
  • a possible specific implementation manner for determining the first processing of the first data to be processed is provided. Specifically, before performing the first processing on the first data to be processed, the first information is also used. , determine to perform the first processing on the first data to be processed.
  • the first network element can determine which of the acquired data to be processed should be processed based on the first information, so that it can determine to perform the first processing on the first data to be processed based on the first information, in collaboration with the third network element.
  • the completion of logical processing by the second network element can solve the technical problem of the second network element being unable to perform the first processing due to insufficient computing resources and other reasons, so that stock vehicles equipped with the second network element can also support chip updates due to the second network element. New features provided.
  • the first information is also used to indicate that the first network element is allowed to perform the first process.
  • the first information is also used to indicate that the first network element is allowed to perform the first process.
  • the first network element After obtaining the first data to be processed, a request can be sent to the second network element to request to perform the first processing on the first data to be processed.
  • the second network element After receiving the request, the second network element sends a request to the first network element.
  • the first information is sent to indicate that the first network element is allowed to perform the first process.
  • the second network element offloads part of the processing logic to the first network element and uses the first network element's surplus computing power resources to process the part of the processing logic, but still retains the control of whether to allow the execution of the part of the processing logic.
  • the first network element is used to cooperate with the second network element to complete logical processing, and then realize the corresponding vehicle control.
  • the first information is also used to indicate a third network element that sends the first data to be processed
  • Determining to perform the first processing on the first data to be processed includes:
  • the first information is also used to indicate the third network element that sends the first data to be processed.
  • the third network element may be the collection and sends the sensing network element of the data to be processed.
  • the first information may include information of the third network element that sends the first data to be processed, such as the identification of the third network element and other information.
  • the first information may also include the third network element. Path information of a data to be processed is transmitted from the third network element to the first network element, so that the third network element can be determined based on the path information.
  • the first data to be processed comes from based on the first information, thereby determining to perform corresponding different processing on the data to be processed from different sensing network elements, for example,
  • the first to-be-processed data from the third network element undergoes first processing, and then cooperates with the second network element to complete logical processing to achieve corresponding vehicle control.
  • the first information is also used to indicate the second network element
  • the sending of the first processing result to the second network element includes:
  • the first information it is determined to send the first processing result to the second network element.
  • the first information is also used to indicate the second network element.
  • the first information may include the second network element.
  • Information such as the identification of the second network element and other information.
  • the first information may also include path information for transmitting the first processing result from the first network element to the second network element, so that the second network element can be determined based on the path information, and then the second network element can be determined based on the path information. It is determined according to the first information to send the first processing result to the second network element.
  • the embodiments of this application it is possible to determine, based on the first information, the different processing results obtained by processing different data to be processed and which control network element or types should be given to perform corresponding different vehicle controls. For example, for the first The first processing result obtained by performing the first processing on the data to be processed is determined to be sent to the second network element according to the first information, and the second network element is coordinated to complete the logical processing, so that the second network element can perform corresponding vehicle control. .
  • performing the first processing on the first data to be processed includes:
  • a possible specific implementation method of performing first processing on the first data to be processed is provided.
  • the first processing is performed on the first data to be processed according to the second information.
  • the second information Including the correspondence between the first data to be processed and the first processing.
  • the first processing corresponding to the first data to be processed may be an image or video algorithm class.
  • Logical processing when the first data to be processed is temperature data from the temperature sensor, the first processing corresponding to the first data to be processed may be a logical processing of the temperature algorithm type.
  • the second information also includes information related to the first processing, and the related information to the first processing includes at least one of the following:
  • Processing logic information required to execute the first process Processing logic information required to execute the first process, parameter information required to execute the first process, and configuration information to execute the first process.
  • the second information also includes information related to the first processing, including but not limited to the processing logic required to execute the first processing. information, parameter information required to execute the first process, and configuration information for executing the first process.
  • the processing logic information required to perform the first processing on the first data to be processed can be determined based on the configuration information, and the corresponding processing logic information is called to perform the first processing. When performing the first processing, it will cooperate with the third processing logic information.
  • the second information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or the second network element.
  • the second information can be obtained through various methods such as over-the-air upgrade OTA, pre-configuration, and second network element sending.
  • the second information obtained through the embodiments of the present application can be used to perform corresponding first processing on the first data to be processed, to cooperate with the second network element to complete the logical processing, and to solve the problem of the second network element due to insufficient computing resources and other reasons.
  • Technical issues that cannot be dealt with in the first place enable existing vehicles equipped with the second network element to support new functions and features provided by the chip update of the second network element.
  • the first information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or a network element with a communication orchestration function.
  • the first information can be obtained through various methods such as over-the-air upgrade OTA, pre-configuration, and network element transmission with communication orchestration function. .
  • the first information obtained through the embodiments of this application can be used to determine the corresponding first processing on the first data to be processed, so as to cooperate with the second network element to complete the logical processing and solve the problem of insufficient computing resources of the second network element.
  • Technical problems that prevent the first processing are enabled, so that existing vehicles equipped with the second network element can also support new functions and features provided by the chip update of the second network element.
  • the method further includes:
  • the first network element sends first capability information, and the first capability information indicates that the first network element has the ability to perform the first process.
  • the first network element sends the first capability information
  • the first capability information represents that the first network element has the ability to perform the first processing capabilities.
  • the second network element can know that the first network element has the ability to perform the first process, thereby offloading the processing logic of the first process to the first network element and utilizing the first network element.
  • the second network element cooperates with the second network element to complete the logical processing, solving the technical problem that the second network element cannot perform the first processing due to insufficient computing resources and other reasons, so that the stock vehicle equipped with the second network element can also support the second network element. New features provided by chip updates.
  • the first capability information includes information on computing power capabilities required to perform the first process.
  • the first capability information includes information on the computing power required to perform the first process.
  • the second network element can confirm that the first network element has the ability to perform the first process, thereby offloading the processing logic of the first process to the first network element and utilizing the first network element.
  • the network element cooperates with the second network element to complete logical processing.
  • the first capability information is sent in at least one of the following ways: broadcast message, or point-to-point sending.
  • the first network element can send the first capability information through a broadcast message or point-to-point.
  • the second network element can Receive first capability information via broadcast message or peer-to-peer.
  • the first network element can send the first capability information point-to-point to the second network element.
  • the second network element receives the first capability information sent by the first network element; the first network element can also send the first capability information Point-to-point is sent to the over-the-air upgrade OTA server.
  • the second network element obtains the first capability information through the over-the-air upgrade OTA.
  • the first network element can also obtain the above-mentioned first information and/or second information through the over-the-air upgrade OTA to determine the right
  • the first data to be processed undergoes corresponding first processing, and cooperates with the second network element to complete logical processing.
  • the first process is executed when the following conditions are met: the first network element has the computing power to execute the first process, and the second network element does not have the computing power to execute The computing power of the first processing.
  • the first process needs to satisfy that the first network element has the computing power to perform the first process, and the second network element does not Have the computing power to perform the first processing.
  • the second network element cannot support the functional characteristics corresponding to the first processing because it does not have the computing power or ability to perform the first processing, while the first network element has the computing power or ability to perform the first processing.
  • the second network element offloads the processing logic corresponding to the first processing to the first network element, that is, the first network element performs the first processing on the first data to be processed, and uses the first network element to cooperate with the second network element to complete the logical processing, It can solve the technical problem that the second network element cannot perform the first processing due to insufficient computing resources and other reasons, so that the stock vehicle equipped with the second network element can also support the functional characteristics corresponding to the first processing, and it can also reduce the first processing cost.
  • the waste of resources caused by the excess computing power resources of network elements improves the utilization rate of computing power resources of the first network element.
  • the first network element includes a microprocessing unit MPU and a microcontrol unit MCU.
  • the first network element is a network element including a micro-processing unit MPU and a micro-control unit MCU, that is, the first network element
  • the computing power resources are abundant and the computing power is sufficient to perform the first processing
  • the first network element can also be a network element including a micro control unit MCU.
  • the micro control unit MCU included in the first network element has relatively abundant computing power resources. , enough to perform the first processing.
  • the first network element in the embodiment of the present application can cooperate with the second network element to complete part of the logical processing, solve the technical problem that the second network element cannot perform the first processing due to insufficient computing resources and other reasons, and enable the second network element to be equipped with
  • the stock car of the first network element can also support the functional features corresponding to the first processing, and can also reduce the waste of resources caused by the surplus computing power resources of the first network element and improve the utilization rate of the computing power resources of the first network element.
  • embodiments of the present application provide a collaborative vehicle control method, which method includes:
  • the second network element receives the first processing result sent by the first network element.
  • the first processing result includes the processing result obtained by the first network element performing the first processing on the first data to be processed.
  • the second network element It is a network element that does not perform the first process;
  • the second network element performs vehicle control according to the first processing result.
  • the second network element performs vehicle control based on the first processing result, including:
  • the second network element performs vehicle control according to a fusion result, wherein the fusion result is associated with the first processing result and the second processing result, or the fusion result is associated with the first processing result and the second processing result.
  • the data to be processed is associated, and the second processing result includes a processing result obtained by performing a second processing on the second data to be processed by the second network element.
  • a collaborative vehicle control method receives the first processing result sent by the first network element.
  • the first processing result includes the first network element performing a first step on the first data to be processed.
  • the first data to be processed may be sent directly by the sensing network element to the first network element, or may be sent by the sensing network element to the second network element, and the second network element determines whether the first data to be processed is It belongs to the processing logic part that is offloaded to the first network element.
  • the second network element then sends the first to-be-processed data to the third network element.
  • One network element One network element.
  • the second network element can perform vehicle control based on the received first processing result, or can perform vehicle control based on the result obtained by fusing the first processing result with other processing results, or can also perform vehicle control based on the first processing result and other data to be processed.
  • the fusion result is used for vehicle control, where the first network element includes a network element that has the ability to perform the first processing and communication capabilities, such as a vehicle-mounted gateway, etc., and the second network element is a network that does not perform the first processing. Yuan.
  • the current stock cars equipped with the second network element cannot support the new features provided by the chip update of the second network element.
  • the embodiment of the present application offloads part of the processing logic from the second network element to the first network element, that is, the first network element performs the first processing on the first data to be processed, and uses the first network element to Collaborating with the second network element to complete logical processing can enable the existing vehicles equipped with the second network element to support new functions and features provided by the chip update of the second network element, and can also solve the problem of insufficient computing resources of the second network element.
  • the second network element further includes a network element that does not have the ability to perform the first process.
  • the second network element also includes a network element that does not have the ability to perform the first process, wherein the second network element does not have the ability to perform the first process.
  • a network element capable of the first processing can be understood as a possible situation of a network element that does not perform the first processing.
  • the second network element can be an intelligent driving domain controller, an intelligent cockpit domain controller, a vehicle domain controller, etc.
  • the second network element may fail due to chip update of the second network element or insufficient computing resources of the second network element.
  • the network element does not have the ability to perform the first processing.
  • part of the processing logic is offloaded from the second network element to the first network element, and the first network element is used to cooperate with the second network element to complete the logical processing, which can solve the problem that the second network element does not have the ability to perform the first processing. problem, so that existing vehicles equipped with the second network element can also support new functions and features provided by the chip update of the second network element.
  • performing the first processing on the first data to be processed is associated with first information, and the first information is used to instruct execution of the first processing.
  • a possible specific implementation manner of determining to perform the first processing on the first data to be processed is provided.
  • the first processing on the first data to be processed can be determined based on the first information.
  • the first information is used to instruct execution of the first process.
  • the first information is also used to indicate that the first network element is allowed to perform the first process.
  • the first information is also used to indicate that the first network element is allowed to perform the first process.
  • the first network element After obtaining the first data to be processed, a request can be sent to the second network element to request to perform the first processing on the first data to be processed.
  • the second network element After receiving the request, the second network element sends a request to the first network element.
  • the first information is sent to indicate that the first network element is allowed to perform the first process.
  • the second network element offloads part of the processing logic to the first network element and uses the first network element's surplus computing power resources to process the part of the processing logic, but still retains the control of whether to allow the execution of the part of the processing logic.
  • the first network element is used to cooperate with the second network element to complete logical processing, and then realize the corresponding vehicle control.
  • the first information is also used to indicate a third network element that sends the first to-be-processed data; and the first to-be-processed data from the third network element is processed.
  • the first processing is associated with the first information.
  • the first information is also used to indicate the third network element that sends the first data to be processed.
  • the third network element may be the collection and sends the sensing network element of the data to be processed.
  • the first information may include information of the third network element that sends the first data to be processed, such as the identification of the third network element and other information.
  • the first information may also include the third network element. Path information of a data to be processed is transmitted from the third network element to the first network element, so that the third network element can be determined based on the path information.
  • the first data to be processed comes from based on the first information, thereby determining to perform corresponding different processing on the data to be processed from different sensing network elements, for example,
  • the first to-be-processed data from the third network element undergoes first processing, and then cooperates with the second network element to complete logical processing to achieve corresponding vehicle control.
  • the first information is also used to instruct the second network element; determining that sending the first processing result to the second network element is associated with the first information.
  • the first information is also used to indicate the second network element.
  • the first information may include the second network element.
  • Information such as the identification of the second network element and other information.
  • the first information may also include path information for transmitting the first processing result from the first network element to the second network element, so that the second network element can be determined based on the path information, and then the second network element can be determined based on the path information.
  • the first information it is determined to send the first processing result to the second network element.
  • the second network element determines to receive the first processing result sent by the first network element.
  • the embodiments of this application it is possible to determine, based on the first information, the different processing results obtained by processing different data to be processed and which control network element or types should be given to perform corresponding different vehicle controls. For example, for the first The first processing result obtained by performing the first processing on the data to be processed is determined to be sent to the second network element according to the first information, and the second network element is coordinated to complete the logical processing, so that the second network element can perform corresponding vehicle control. .
  • performing the first processing on the first data to be processed is associated with second information; wherein the second information includes the first data to be processed and the first data to be processed. processing correspondence.
  • the first processing is performed on the first data to be processed according to the second information.
  • the second information Including the correspondence between the first data to be processed and the first processing.
  • the first processing corresponding to the first data to be processed may be an image or video algorithm class.
  • Logical processing when the first data to be processed is temperature data from the temperature sensor, the first processing corresponding to the first data to be processed may be a logical processing of the temperature algorithm type.
  • the second information also includes information related to the first processing, and the related information to the first processing includes at least one of the following:
  • Processing logic information required to execute the first process Processing logic information required to execute the first process, parameter information required to execute the first process, and configuration information to execute the first process.
  • the second information also includes information related to the first processing, including but not limited to the processing logic required to execute the first processing. information, parameter information required to execute the first process, and configuration information for executing the first process.
  • the processing logic information required to perform the first processing on the first data to be processed can be determined based on the configuration information, and the corresponding processing logic information is called to perform the first processing. When performing the first processing, it will cooperate with the third processing logic information.
  • the second information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or the second network element.
  • the second information can be obtained through various methods such as over-the-air upgrade OTA, pre-configuration, and second network element sending.
  • the second information obtained through the embodiments of the present application can be used to perform corresponding first processing on the first data to be processed, to cooperate with the second network element to complete the logical processing, and to solve the problem of the second network element due to insufficient computing resources and other reasons.
  • Technical issues that cannot be dealt with in the first place enable existing vehicles equipped with the second network element to support new functions and features provided by the chip update of the second network element.
  • the first information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or a network element with a communication orchestration function.
  • the first information can be obtained through various methods such as over-the-air upgrade OTA, pre-configuration, and network element transmission with communication orchestration function. .
  • the first information obtained through the embodiments of this application can be used to determine the corresponding first processing on the first data to be processed, so as to cooperate with the second network element to complete the logical processing and solve the problem of insufficient computing resources of the second network element.
  • Technical problems that prevent the first processing are enabled, so that existing vehicles equipped with the second network element can also support new functions and features provided by the chip update of the second network element.
  • the method further includes:
  • the second network element receives first capability information, and the first capability information represents that the first network element has the ability to perform the first process.
  • the second network element receives the first capability information, and the first capability information represents that the first network element has the ability to perform the first capability information. processing capabilities.
  • the second network element can know that the first network element has the ability to perform the first process, thereby offloading the processing logic of the first process to the first network element, using the first network element.
  • the second network element cooperates with the second network element to complete the logical processing, solving the technical problem that the second network element cannot perform the first processing due to insufficient computing resources and other reasons, so that the stock vehicle equipped with the second network element can also support the second network element. New features provided by chip updates.
  • the first capability information includes information on computing power capabilities required to perform the first process.
  • the first capability information includes information on the computing power required to perform the first process.
  • the second network element can confirm that the first network element has the ability to perform the first process, thereby offloading the processing logic of the first process to the first network element and utilizing the first network element.
  • the network element cooperates with the second network element to complete logical processing.
  • the first capability information is received in at least one of the following ways: broadcast message, or point-to-point reception.
  • the first network element can send the first capability information through a broadcast message or point-to-point.
  • the second network element can Receive first capability information via broadcast message or peer-to-peer.
  • the first network element can send the first capability information point-to-point to the second network element.
  • the second network element receives the first capability information sent by the first network element; the first network element can also send the first capability information Point-to-point is sent to the over-the-air upgrade OTA server.
  • the second network element obtains the first capability information through the over-the-air upgrade OTA.
  • the first network element can also obtain the above-mentioned first information and/or second information through the over-the-air upgrade OTA to determine the right
  • the first data to be processed undergoes corresponding first processing, and cooperates with the second network element to complete logical processing.
  • the first processing is executed when the following conditions are met: the first network element has the computing power to execute the first processing, and the second network element does not have the computing power to execute The computing power of the first processing.
  • the first process needs to satisfy that the first network element has the computing power to perform the first process, and the second network element does not Have the computing power to perform the first processing.
  • the second network element cannot support the functional characteristics corresponding to the first processing because it does not have the computing power or ability to perform the first processing, while the first network element has the computing power or ability to perform the first processing.
  • the second network element offloads the processing logic corresponding to the first processing to the first network element, that is, the first network element performs the first processing on the first data to be processed, and uses the first network element to cooperate with the second network element to complete the logical processing, It can solve the technical problem that the second network element cannot perform the first processing due to insufficient computing resources and other reasons, so that the stock vehicle equipped with the second network element can also support the functional characteristics corresponding to the first processing, and it can also reduce the first processing cost.
  • the waste of resources caused by the excess computing power resources of network elements improves the utilization rate of computing power resources of the first network element.
  • the first network element includes a microprocessing unit MPU and a microcontrol unit MCU.
  • the first network element is a network element including a micro-processing unit MPU and a micro-control unit MCU, that is, the first network element
  • the computing power resources are abundant and the computing power is sufficient to perform the first processing
  • the first network element can also be a network element including a micro control unit MCU.
  • the micro control unit MCU included in the first network element has relatively abundant computing power resources. , enough to perform the first processing.
  • the first network element in the embodiment of the present application can cooperate with the second network element to complete part of the logical processing, solve the technical problem that the second network element cannot perform the first processing due to insufficient computing resources and other reasons, and enable the second network element to be equipped with
  • the stock car of the first network element can also support the functional features corresponding to the first processing, and can also reduce the waste of resources caused by the surplus computing power resources of the first network element and improve the utilization rate of the computing power resources of the first network element.
  • embodiments of the present application provide a collaborative vehicle control device, which includes a module or unit for executing the method described in any one of the first aspect or the second aspect.
  • the device includes:
  • a processing unit used to obtain the first data to be processed
  • the processing unit is also configured to perform first processing on the first data to be processed to obtain a first processing result
  • a transceiver unit configured to send the first processing result to a second network element, where the first processing result is used by the second network element to perform vehicle control, wherein the second network element does not execute the first processing result.
  • the processing unit is further configured to perform vehicle control according to the first processing result
  • the collaborative vehicle control device includes a vehicle-mounted gateway.
  • the second network element further includes a network element that does not have the ability to perform the first process.
  • the processing unit is further configured to determine, based on the first information, to perform the third processing on the first data to be processed before performing the first processing on the first data to be processed.
  • a process wherein the first information is used to instruct execution of the first process.
  • the first information is also used to indicate that the collaborative vehicle control device is allowed to perform the first process.
  • the first information is also used to indicate a third network element that sends the first data to be processed
  • the processing unit is also configured to determine to perform the first processing on the first data to be processed from the third network element.
  • the first information is also used to indicate the second network element
  • the processing unit is further configured to determine to send the first processing result to the second network element according to the first information.
  • the processing unit is specifically configured to perform the first processing on the first data to be processed according to the second information; wherein the second information includes the first data to be processed. Correspondence between data and the first processing.
  • the second information also includes information related to the first processing, and the related information to the first processing includes at least one of the following:
  • Processing logic information required to execute the first process Processing logic information required to execute the first process, parameter information required to execute the first process, and configuration information to execute the first process.
  • the second information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or the second network element.
  • the first information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or a network element with a communication orchestration function.
  • the transceiver unit is further configured to send first capability information, where the first capability information represents that the collaborative vehicle control device has the ability to perform the first process.
  • the first capability information includes information on computing power capabilities required to perform the first process.
  • the first capability information is sent in at least one of the following ways: broadcast message, or point-to-point sending.
  • the first process is executed when the following conditions are met: the collaborative vehicle control device has the computing power to execute the first process, and the second network element does not have the capability to execute The computing power of the first processing.
  • the collaborative vehicle control device includes a microprocessing unit MPU and a microcontrol unit MCU.
  • the device includes:
  • a transceiver unit configured to receive a first processing result sent by a first network element.
  • the first processing result includes a processing result obtained by the first network element performing a first processing on the first data to be processed.
  • the collaborative vehicle control Means include means for not performing said first process;
  • a processing unit configured to perform vehicle control according to the first processing result.
  • the processing unit is further configured to perform vehicle control according to a fusion result, wherein the fusion result is associated with the first processing result and the second processing result, or the fusion result
  • the result is associated with the first processing result and the second data to be processed
  • the second processing result includes the processing result obtained by performing a second processing on the second data to be processed by the collaborative vehicle control device.
  • the collaborative vehicle control device further includes a network element that does not have the ability to perform the first process.
  • performing the first processing on the first data to be processed is associated with first information, and the first information is used to instruct execution of the first processing.
  • the first information is also used to indicate that the first network element is allowed to perform the first process.
  • the first information is also used to indicate a third network element that sends the first to-be-processed data; and the first to-be-processed data from the third network element is processed.
  • the first processing is associated with the first information.
  • the first information is also used to instruct the collaborative vehicle control device; determining whether to send the first processing result to the collaborative vehicle control device is associated with the first information.
  • performing the first processing on the first data to be processed is associated with second information; wherein the second information includes the first data to be processed and the first data to be processed. processing correspondence.
  • the second information also includes information related to the first processing, and the related information to the first processing includes at least one of the following:
  • Processing logic information required to execute the first process Processing logic information required to execute the first process, parameter information required to execute the first process, and configuration information to execute the first process.
  • the second information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or the collaborative vehicle control device.
  • the first information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or a network element with a communication orchestration function.
  • the transceiver unit is further configured to receive first capability information, where the first capability information indicates that the first network element has the ability to perform the first process.
  • the first capability information includes information on computing power capabilities required to perform the first process.
  • the first capability information is received in at least one of the following ways: broadcast message, or point-to-point reception.
  • the first process is executed when the following conditions are met: the first network element has the computing power to execute the first process, and the collaborative vehicle control device does not have the capability to execute The computing power of the first processing.
  • the first network element includes a microprocessing unit MPU and a microcontrol unit MCU.
  • embodiments of the present application provide an electronic device, which includes a processor.
  • the processor is coupled to the memory and can be used to execute instructions in the memory to implement any one of the above-mentioned first to second aspects and the method of any possible implementation.
  • the electronic device further includes a memory.
  • the electronic device further includes a communication interface, and the processor is coupled with the communication interface.
  • embodiments of the present application provide a computer-readable storage medium, the computer-readable storage medium being used to store a computer program (which may also be called a code, or an instruction); when the computer program is run on a computer
  • a computer program which may also be called a code, or an instruction
  • inventions of the present application provide a computer program product.
  • the computer program product includes: a computer program (which may also be called a code, or an instruction); when the computer program is run, it causes the computer to execute the above-mentioned first step.
  • a computer program which may also be called a code, or an instruction
  • embodiments of the present application provide a chip.
  • the chip includes a processor.
  • the processor is configured to execute instructions.
  • the chip performs any of the above first to second aspects.
  • the chip also includes a communication interface, which is used to receive signals or send signals.
  • embodiments of the present application provide a vehicle terminal, which includes at least one collaborative vehicle control device as described in the third aspect, or an electronic device as described in the fourth aspect, or an electronic device as described in the seventh aspect. chip.
  • embodiments of the present application provide a system that includes a vehicle terminal and at least one collaborative vehicle control device as described in the third aspect, or an electronic device as described in the fourth aspect, or as described in the seventh aspect of chips.
  • the above method is related to sending information and/or
  • the process of receiving information can be understood as the process of outputting information by the processor, and/or the process of receiving input information by the processor.
  • the processor may output the information to the transceiver (or communication interface, or transmitting module) for transmission by the transceiver. After the information is output by the processor, it may also need to undergo other processing before it reaches the transceiver.
  • the transceiver or communication interface, or sending module
  • the transceiver receives the information and inputs it into the processor.
  • the information may need to undergo other processing before being input to the processor.
  • the sending information mentioned in the foregoing method can be understood as processor output information.
  • receiving information can be understood as the processor receiving input information.
  • the above-mentioned processor may be a dedicated processor.
  • the processor that performs these methods may also be a processor that performs these methods by executing computer instructions in a memory, such as a general-purpose processor.
  • the above-mentioned memory can be a non-transitory memory, such as a read-only memory (ROM), which can be integrated on the same chip as the processor, or can be separately provided on different chips.
  • ROM read-only memory
  • the above-mentioned at least one memory is located outside the device.
  • the above-mentioned at least one memory is located within the device.
  • part of the at least one memory is located within the device, and another part of the memory is located outside the device.
  • processor and the memory may also be integrated into one device, that is, the processor and the memory may also be integrated together.
  • part of the processing logic is offloaded from the second network element to the first network element, and the first network element is used to cooperate with the second network element to complete the logical processing, which can solve the problem of insufficient computing resources of the second network element.
  • Technical issues that cannot be dealt with in the first place enable existing vehicles equipped with the second network element to support new functions and features provided by the chip update of the second network element.
  • Figure 1A is a schematic architectural diagram of a vehicle control system provided by an embodiment of the present application.
  • FIG. 1B is a schematic architectural diagram of another vehicle control system provided by an embodiment of the present application.
  • Figure 2 is a schematic architectural diagram of a collaborative vehicle control system provided by an embodiment of the present application.
  • FIG. 3 is a schematic architectural diagram of another collaborative vehicle control system provided by an embodiment of the present application.
  • Figure 4 is a schematic flowchart of a collaborative vehicle control method provided by an embodiment of the present application.
  • Figure 5 is a schematic flow chart of another collaborative vehicle control method provided by an embodiment of the present application.
  • Figure 6 is a schematic diagram of a communication route provided by an embodiment of the present application.
  • Figure 7 is a schematic diagram of an over-the-air upgrade OTA provided by an embodiment of the present application.
  • FIG. 8 is a schematic flowchart of yet another collaborative vehicle control method provided by an embodiment of the present application.
  • Figure 9 is a schematic structural diagram of a collaborative vehicle control device provided by an embodiment of the present application.
  • Figure 10 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • Figure 11 is a schematic structural diagram of a chip provided by an embodiment of the present application.
  • 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 present application.
  • the appearances of this phrase 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 skilled in the art can understand explicitly and implicitly that in the various embodiments of the present application, if there is no special explanation or logical conflict, the terminology and/or description between the various embodiments are consistent, and can By referencing each other, technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.
  • At least one (item) refers to one or more
  • plural refers to two or more
  • at least two (items) refers to two or three and three or more
  • "and/or” is used to describe the relationship between associated objects, indicating that there can be three relationships.
  • a and/or B can mean: only A exists, only B exists, and A exists at the same time. and B, where A and B can be singular or plural.
  • the character “/” generally indicates that the related objects are an "or” relationship.
  • At least one of the following” or similar expressions thereof refers to any combination of these items, including any combination of a single item (items) or a plurality of items (items).
  • At least one of a, b or c can mean: a, b, c, "a and b", “a and c", “b and c", or "a and b and c” ”, where a, b, c can be single or multiple.
  • the current vehicle control is divided into five major areas according to functions: power domain, chassis domain, cockpit domain, autonomous driving domain and body domain. Each area launches a corresponding domain controller, and finally through the controller area network, Communication methods such as CAN) or local interconnect network (LIN) are connected to the main line or even hosted in the cloud, thereby realizing the interaction of vehicle information data.
  • Communication methods such as CAN) or local interconnect network (LIN) are connected to the main line or even hosted in the cloud, thereby realizing the interaction of vehicle information data.
  • Intelligent driving domain controller An intelligent driving car contains four core subsystems: sensors, computing platforms, actuators, and application algorithms.
  • the intelligent driving domain controller is positioned as a computing platform and is responsible for realizing intelligent driving panoramic perception, map and sensor fusion.
  • the automobile "brain" with functions such as positioning, decision-making, planning, and control is suitable for passenger cars (such as congestion following, high-speed cruising, automatic valet parking), commercial vehicles (such as port freight, trunk logistics) and work vehicles (such as Such as mining trucks, cleaning vehicles, unmanned delivery) and other application scenarios.
  • the smart cockpit domain controller needs to have excellent processing performance to support cockpit domain applications, such as voice recognition, gesture recognition, etc.; provide excellent display performance support, while supporting virtualization technology and supporting multiple cores
  • the screen display meets the display needs of various sizes of instrument screens and central control screens, and isolates applications with different security levels. It also provides external and internal communication capabilities and provides a stable and high-speed communication network to easily cope with various high-speed Bandwidth application network requirements.
  • Vehicle domain controller With the development of the vehicle, there are more and more body controllers. In order to reduce the cost of the controller and reduce the weight of the vehicle, integration requires all functional devices, from the front part of the vehicle to the middle part of the vehicle and The rear parts of the car, such as the rear brake lights, rear position lights, tailgate locks, and even the double struts, are all connected to a master controller.
  • the vehicle domain controller has gradually transitioned from a decentralized function combination to a large controller integrating basic drives, key functions, lights, doors, windows, etc. of all body electronics.
  • Power domain controller It is an intelligent powertrain management unit that uses CAN and other communication methods to manage the transmission, manage the battery, monitor the alternator adjustment. Its advantage lies in calculating and allocating torque to a variety of power system units (such as internal combustion engines, electric motors/generators, batteries, gearboxes, etc.), and achieving carbon dioxide emission reductions through predictive driving strategies.
  • power system units such as internal combustion engines, electric motors/generators, batteries, gearboxes, etc.
  • Chassis domain controller The chassis domain is related to vehicle driving and consists of transmission system, driving system, steering system and braking system.
  • the control execution end mainly includes drive control, steering control, braking control, etc., which requires wire-controlled transformation of the chassis of traditional cars. suitable for autonomous driving.
  • Vehicle-mounted gateway As the core control device of the vehicle network system, the vehicle-mounted gateway is responsible for coordinating protocol conversion, data exchange, fault diagnosis, etc. between CAN bus networks and other data networks with different structures and characteristics.
  • the vehicle-mounted gateway is used to provide network compatibility functions such as protocol conversion and data exchange when collecting networks with different architectures or protocols.
  • the vehicle-mounted gateway can be understood as a connector between networks, a protocol converter, and a data converter. Translator. Vehicle-mounted gateways can be used for both wide-area interconnection and local-area interconnection, serving as a computer system or device responsible for conversion between two systems that use different protocols, data or languages, or even two completely different architectures. Make the conversion.
  • Over-the-air It is a short message-based mechanism that realizes the dynamic download, deletion and update of the business menu in the subscriber identification module (SIM) card through the terminal or server (online).
  • SIM subscriber identification module
  • OTA service for short
  • the application of OTA technology enables mobile communications to not only provide voice and data services, but also provide new business downloads.
  • FIG. 1A is a schematic architectural diagram of a vehicle control system provided by an embodiment of the present application.
  • the car control system mainly includes sensors such as radar and cameras, intelligent driving systems, chassis domains, power domains, body components such as wipers and lights, and multiple vehicle-mounted gateways.
  • the intelligent driving system obtains the data to be processed by accessing sensors such as radar and cameras, and then performs local calculations on the data to be processed to obtain the calculation results and make decisions based on the calculation results, thereby making corresponding adjustments to the chassis domain and power domain.
  • the intelligent driving system can also transmit decision-making instructions to body components such as wipers and lights through the vehicle gateway, so as to control the wipers, lights and other body components accordingly.
  • the processor installed in the vehicle gateway is a micro controller unit (MCU) with low performance. Due to the limitation of computing power of the vehicle gateway, it mainly implements traditional functions such as data forwarding and fault diagnosis, such as external diagnostic instruments.
  • the domain controller of the intelligent driving system can be diagnosed through the vehicle gateway.
  • FIG. 1B is a schematic architectural diagram of another vehicle control system provided by an embodiment of the present application.
  • the car control system mainly includes sensors such as radar and cameras, intelligent driving systems, chassis domains, power domains, body components such as wipers and lights, and multiple vehicle gateways.
  • the vehicle-mounted gateway 1 in this vehicle control system is an intelligent gateway equipped with both MPU and MCU. It can support radar, camera and other sensors to access the vehicle-mounted gateway nearby without the need to connect to the smart driving The system's domain controller.
  • the intelligent driving system does not need to access a wide variety of sensors. It only needs to access various vehicle-mounted gateways to obtain the data to be processed, and then perform local calculations on the data to be processed, obtain the calculation results, and make decisions based on the calculation results. , thereby controlling the chassis domain and power domain accordingly.
  • the intelligent driving system can also transmit decision-making instructions to body components such as wipers and lights through the vehicle gateway, so as to control body components such as wipers and lights accordingly.
  • body components such as wipers and lights
  • the vehicle-mounted gateway in this vehicle control system can also only be equipped with an MCU, which should not limit this application. Since the MCU has strong performance, it can also support sensors such as radars and cameras to access the vehicle-mounted gateway nearby.
  • modules/architecture of the vehicle control system shown in Figure 1A and Figure 1B are divided based on logical functions. In practical applications, the function of one module can also be implemented by multiple modules, or multiple modules The function is implemented by a module.
  • the vehicle control system shown in the embodiment of this application is only a possible architecture implementation, and this application should not be limited by this.
  • sensors such as radars and cameras can be configured to directly transmit raw data to the intelligent driving system for processing, or they can be configured to process the raw data through a local processing unit and then transmit the processing results to the intelligent driving system for processing. Since the computing power of chips on intelligent driving systems is generally strong, raw data collected by sensors are required in some scenarios. At this time, the vehicle-mounted gateway's forwarding service of a large amount of raw data will occupy more link resources, and in serious cases may cause Communication is blocked.
  • chip performance of intelligent driving domain controllers is also constantly improving.
  • the improvement of chip computing power has brought about the evolution of the decision-making system on intelligent driving systems. For example, as the chips of intelligent driving systems are updated and iterated, the improvement of chip computing power brings about the improvement of the decision-making performance of intelligent driving systems, providing new functional features for drivers.
  • existing cars with intelligent driving systems using old chips cannot support the new features provided by chip updates.
  • this application provides A new collaborative vehicle control architecture, and based on this architecture, a new collaborative vehicle control method is proposed. Part of the processing logic is offloaded from the second network element to the first network element, and the first network element is used to collaborate with the second network element. The second network element completes the logical processing, which can solve the technical problem of the second network element being unable to perform the first processing due to insufficient computing resources and other reasons, so that the stock vehicle equipped with the second network element can also support the chip update of the second network element.
  • New functional features moreover, it can also reduce a large amount of resource waste caused by excess computing power resources of the first network element and improve the utilization rate of computing power resources; it can also reduce the consumption of link resources and ensure smooth communication.
  • network element such as the above-mentioned first network element, second network element, etc.
  • NE network element
  • a network element can be a collection of one or more disks or chassis that can independently complete certain transmission functions.
  • Figure 2 is a schematic architectural diagram of a collaborative vehicle control system provided by an embodiment of the present application.
  • this collaborative vehicle control system provides the connection relationship between the vehicle gateway and the intelligent driving system as well as peripheral body control/power/chassis components, cameras/radar and other sensors.
  • the vehicle-mounted gateway includes a body control module and an intelligent driving collaboration system.
  • Sensors such as cameras and radars are connected to the intelligent driving collaboration system in the vehicle-mounted gateway.
  • Body components such as wipers, lights, and windows are connected to the body control module in the vehicle-mounted gateway.
  • the intelligent driving collaboration system in the vehicle gateway is also connected to the domain controller of the intelligent driving system.
  • the intelligent driving system can offload part of the processing logic to the vehicle gateway side, and it will be executed by the intelligent driving collaboration system in the vehicle gateway. Specifically, which type of processing logic is offloaded to the vehicle gateway can be determined by the intelligent driving system based on the computing power of the vehicle gateway.
  • processing logic that does not require high computing power such as fast Fourier transform (FFT) feature processing and support vector machine (SVM) classification processing of millimeter wave radar signals, can be offloaded to On the vehicle gateway side, it is executed by the intelligent driving collaboration system in the vehicle gateway.
  • FFT fast Fourier transform
  • SVM support vector machine
  • processing logic that requires high computing power such as using deep learning to perform convolution calculations on images and then classify them, can be offloaded to the vehicle gateway side for execution after the computing power of the vehicle-mounted gateway is further improved.
  • the intelligent driving collaboration system in the vehicle-mounted gateway executes the processing logic and obtains the processing result. Specifically, how to handle the results obtained by executing the processing logic can be decided by the intelligent driving system based on the in-car network conditions.
  • the vehicle-mounted gateway controls body-related components on its own based on the processing results.
  • the vehicle-mounted gateway controls body equipment such as wipers, lights, and windows based on the processing results.
  • the vehicle-mounted gateway sends the processing results to the intelligent driving system, and the intelligent driving system performs the next vehicle control operation based on the processing results.
  • the intelligent driving system controls the power domain or chassis domain based on the processing results obtained from the vehicle-mounted gateway side.
  • Domain controller to control, or the intelligent driving system performs collaborative calculations based on the processing results obtained from the vehicle gateway side and other data to be processed or other processing results, and then performs collaborative calculations on domain controllers such as the power domain or chassis domain based on the results obtained from the collaborative calculations. control.
  • FIG. 3 is a schematic architectural diagram of another collaborative vehicle control system provided by an embodiment of the present application.
  • this collaborative vehicle control system provides the internal structure of the vehicle gateway, as well as the connection relationship between the vehicle gateway and intelligent driving systems, sensors such as cameras/radar, and orchestrators/diagnostics and other body peripheral components.
  • the orchestrator and diagnostic instrument are external devices that are connected to the vehicle-mounted gateway through communication methods such as CAN port or Ethernet port.
  • the intelligent driving system is deployed on the in-vehicle domain controller and is connected to the vehicle-mounted gateway through communication methods such as CAN port or Ethernet port.
  • sensors such as radar and cameras are deployed on the vehicle body and connected to the vehicle gateway through communication methods such as CAN port or Ethernet port.
  • the vehicle gateway mainly includes a communication routing module and an intelligent driving collaboration system.
  • the intelligent driving collaboration system mainly includes an upgrade management module, a dispatch management module, and a data storage module used to store advanced driver assistance system (ADAS) related information.
  • ADAS advanced driver assistance system
  • the communication routing module is used to obtain and store the communication routing table.
  • the vehicle-mounted gateway is required to perform intelligent driving and collaborative vehicle control, the pending data collected by the sensor needs to be uploaded to the vehicle-mounted gateway, and the vehicle-mounted gateway processes the pending data. The processing results are then transmitted to the intelligent driving system, so the communication route needs to be changed.
  • the transmission path of "data to be processed is transmitted from the sensor to the intelligent driving system" to "data to be processed is transmitted from the sensor to the vehicle gateway. Then it is transmitted from the vehicle gateway to the intelligent driving system.”
  • the vehicle-mounted gateway can also control the relevant components of the body based on the processing results without having to To transmit the processing results to the intelligent driving system, it is necessary to change the communication route. Change the transmission path of "the data to be processed is transmitted from the sensor to the intelligent driving system" to "the data to be processed is transmitted from the sensor to the vehicle gateway".
  • the intelligent driving collaboration system is mainly used to collaboratively process the acquired data to be processed when a vehicle-mounted gateway is required for intelligent driving collaborative vehicle control.
  • ADAS-related information also needs to be obtained from the data storage module that stores ADAS-related information.
  • ADAS-related information includes but is not limited to processing logic information required for processing the data to be processed, parameter information required for processing the data to be processed, and configuration information required for processing the data to be processed.
  • the processing logic information required to process the data to be processed can be the K-means clustering algorithm of machine learning. It is necessary to obtain the relevant logic code for training or reasoning, and the corresponding hyperparameter description model is also required; the data to be processed is
  • the parameter information required for processing can be k value (number of center points), center point coordinates, etc.
  • the logic code can be a single function or a collection of several functions; in addition, the configuration required for processing the data to be processed is also required. Information is used for collaborative processing, such as the correspondence between the sensors that collect the data to be processed and the processing logic.
  • ADAS related information can be stored in the intelligent driving collaborative system in various forms.
  • it can be in the form of an so file and loaded into the system when the intelligent driving collaborative system is initialized.
  • It can also be stored in the intelligent driving collaborative system OTA upgrade. is loaded into the system for subsequent scheduling management, and the embodiment of the present application does not limit this.
  • the above collaborative processing of the acquired data to be processed may be specifically performed by the dispatch management module in the intelligent driving collaborative system.
  • the scheduling management module determines which sensor the data to be processed comes from, and then determines the processing logic information corresponding to the sensor based on the configuration information in the ADAS related information, and calls the processing logic information corresponding to the sensor from the ADAS related information. During the processing, the parameter information in the ADAS related information will be used for calculation.
  • the upgrade management module in the intelligent driving collaborative system is used to upgrade and update the communication routing information and ADAS related information in the intelligent driving collaborative system. After preparing the processing logic and related information that need to be offloaded to the vehicle gateway, as well as the new communication routing information, the diagnostic instrument or intelligent driving system initiates an upgrade request.
  • the upgrade management module can refresh related areas such as communication routing information and ADAS related information. , complete the upgrade of collaborative processing logic.
  • upgrade processing performed by the above upgrade management module and the scheduling processing performed by the above scheduling management module can be a single-thread processing relationship with a sequential order, or a multi-thread parallel processing relationship in no particular order.
  • the embodiment of the present application is This is not a limitation.
  • this application proposes a new collaborative vehicle control method based on the above-mentioned collaborative vehicle control system architecture.
  • the collaborative vehicle control method provided by this application will be described in detail below with reference to Figures 4 to 8.
  • FIG. 4 is a schematic flowchart of a collaborative vehicle control method provided by an embodiment of the present application.
  • the collaborative vehicle control method is applied in the field of intelligent driving technology.
  • the collaborative vehicle control method includes but is not limited to the following steps:
  • the first network element obtains the first data to be processed.
  • the first network element in the embodiment of the present application is a network element/device equipped with a processor that can be used to execute computer execution instructions. It can be a terminal device (such as a vehicle-mounted terminal), etc., specifically it can be the above-mentioned Figure 2 and Figure 3
  • the vehicle-mounted gateway in the collaborative vehicle control system shown is either another component with the function of the vehicle-mounted gateway, or a network element/device that integrates the intelligent driving collaboration system shown in Figure 2 and Figure 3 above, for execution
  • the collaborative vehicle control method in the embodiment of the present application offloads part of the processing logic from the second network element to the first network element, and uses the first network element to cooperate with the second network element to complete logical processing to solve the problem of the second network element's computing power.
  • Technical problems that prevent the first processing due to insufficient resources and other reasons enable existing vehicles equipped with the second network element to support new functions and features provided by the chip update of the second network element.
  • the first data to be processed may be obtained by the sensing network element directly sending the collected first data to be processed to the first network element, or the sensing network element may send the collected first data to be processed. to the second network element.
  • the second network element determines that the first data to be processed belongs to the processing logic part that is offloaded to the first network element, the second network element sends the first data to be processed to the first network element.
  • the second network element in the embodiment of the present application is a network element/device equipped with a processor that can be used to execute computer execution instructions. It can be a terminal device (such as a vehicle-mounted terminal), etc., specifically it can be the above-mentioned Figure 2 and Figure 3
  • the intelligent driving system in the collaborative vehicle control system shown above may be a network element/device that integrates the intelligent driving collaborative system shown in Figures 2 and 3 above, such as an intelligent driving domain controller, or an intelligent cockpit domain control.
  • controller used to execute the collaborative vehicle control method in the embodiment of the present application, offload part of the processing logic from the second network element to the first network element, and use the first network element to cooperate with the second network element to complete the Logical processing to solve the technical problem that the second network element cannot perform the first processing due to insufficient computing resources and other reasons, so that the stock vehicle equipped with the second network element can also support the new information provided by the chip update of the second network element. functional characteristics.
  • the sensing network element in the embodiment of this application is a network element/device equipped with a processor that can be used to execute computer execution instructions, and can be a radar, camera, or other vehicle-mounted equipment used to collect sensing data.
  • S402 Perform the first processing on the first data to be processed, and obtain the first processing result.
  • the first network element performs first processing on the first data to be processed to obtain a first processing result, where the first processing result is used for vehicle control.
  • the first network element performs the first processing on the first data to be processed according to the second information, and obtains the first processing result.
  • the second information includes the correspondence between the first data to be processed and the first processing.
  • the first processing corresponding to the first data to be processed may be logical processing of image or video algorithm type; when the first data to be processed is from When receiving temperature data from a temperature sensor, the first processing corresponding to the first data to be processed may be a logical processing of the temperature algorithm type.
  • the second information also includes information related to the first processing.
  • the related information includes but is not limited to at least one of the following: processing logic information required to execute the first process, parameter information required to execute the first process, and configuration information to execute the first process.
  • the processing logic information required to perform the first processing on the first data to be processed can be determined based on the configuration information, and then the corresponding processing logic information is called to perform the first processing.
  • the first processing it will cooperate with the parameter information required for the first processing to perform corresponding calculations, and cooperate with the second network element to complete the logical processing, solving the problem that the second network element cannot perform the first processing due to insufficient computing resources and other reasons.
  • Technical issues enable existing vehicles equipped with the second network element to support new functions and features provided by the chip update of the second network element.
  • the second information can be obtained through any of the following methods:
  • Method 1 The first network element periodically updates the second information through over-the-air upgrade OTA;
  • Method two the first network element pre-configures the second information
  • Method three the first network element receives the second information sent by the second network element.
  • a method of determining to perform the first processing on the first data to be processed is also provided.
  • the first network element can determine which of the acquired data to be processed should be processed based on the first information, so that it can determine to perform the first processing on the first data to be processed based on the first information, in collaboration with the third network element.
  • the completion of logical processing by the second network element can solve the technical problem of the second network element being unable to perform the first processing due to insufficient computing resources and other reasons, so that stock vehicles equipped with the second network element can also support chip updates due to the second network element. New features provided.
  • the first information is also used to indicate that the first network element is allowed to perform the first process.
  • the first network element may send a request to the second network element to request to perform the first processing on the first data to be processed.
  • the second network element sends the first information to the first network element to indicate that the first network element is allowed to perform the first process.
  • the second network element offloads part of the processing logic to the first network element and uses the first network element's surplus computing power resources to process the part of the processing logic, but still retains the control of whether to allow the execution of the part of the processing logic.
  • the first network element is used to cooperate with the second network element to complete logical processing, and then realize the corresponding vehicle control.
  • the first information is also used to indicate the third network element that sends the first data to be processed.
  • the third network element is a sensing network element that collects and sends the first data to be processed.
  • the first information may include information about the third network element that sends the first data to be processed, such as the identifier of the third network element, the address of the third network element, and other information.
  • the first information may also include path information on which the first data to be processed is transmitted from the third network element to the first network element, so that the third network element can be determined based on the path information.
  • the information used to indicate the third network element that sends the first data to be processed does not necessarily have to be the first information, but can also be other information, such as third information, fourth information, etc. This application The embodiment does not limit this.
  • first processing is performed on the first data to be processed from the radar
  • second processing is performed on the second data to be processed from the camera
  • the second network element is coordinated to complete the logical processing and realize corresponding vehicle control.
  • the first information is also used to indicate the second network element.
  • the first information may include information about the second network element, such as an identifier of the second network element, an address of the second network element, and other information.
  • the first information may also include path information for transmitting the first processing result from the first network element to the second network element, so that the second network element can be determined based on the path information, and then the transmission to the second network element can be determined based on the first information. First processing result.
  • the information used to indicate the second network element does not have to be only the first information, but can also be other information, such as third information, fourth information, etc., which is not limited in the embodiments of the present application.
  • the information used to indicate the second network element and the above-mentioned information used to indicate the third network element sending the first data to be processed may be the same information, or they may be two different information indicated separately. Information, the embodiments of this application do not limit this.
  • the first processing result obtained by performing the first processing on the first data to be processed is determined to be sent to the second network element according to the first information, and the second network element is coordinated to complete the logical processing, so that the second network element can Carry out appropriate vehicle control.
  • Method 1 The first network element periodically updates the first information through OTA upgrade
  • Method two the first network element pre-configures the first information
  • Method three the first network element receives the first information sent by the network element with the communication orchestration function.
  • the first network element also sends the first capability information outward.
  • the first capability information is used to represent that the first network element has the ability to perform the first process.
  • the second network element can know that the first network element has the ability to perform the first process, thereby offloading the processing logic of the first process to the first network element and utilizing the first network element.
  • the second network element cooperates with the second network element to complete the logical processing, solving the technical problem that the second network element cannot perform the first processing due to insufficient computing resources and other reasons, so that the stock vehicle equipped with the second network element can also support the second network element. New features provided by chip updates.
  • the first capability information includes information on computing power capabilities required to perform the first process.
  • the second network element can confirm that the first network element has the ability to perform the first process, thereby offloading the processing logic of the first process to the first network element and utilizing the first network element.
  • the network element cooperates with the second network element to complete logical processing.
  • the first capability information can be sent in any of the following ways:
  • the first network element can send the first capability information through a broadcast message, and accordingly, the second network element can obtain the first capability information by receiving the broadcast message.
  • the first network element can send the first capability information point-to-point to the second network element.
  • the second network element receives the first capability information sent by the first network element point-to-point.
  • the first network element can also send the first capability information point-to-point to the over-the-air upgrade OTA server, and the second network element obtains the first capability information through the over-the-air upgrade OTA technology.
  • the first network element can also obtain the above-mentioned first information and/or second information through over-the-air upgrade OTA technology.
  • the OTA server combines the above-mentioned first information and the second information into an upgrade package
  • the first network element obtains the upgrade package from the OTA server through OTA technology, and updates and upgrades the first information and the second information. It is determined to perform corresponding first processing on the first data to be processed according to the updated first information and second information, and cooperate with the second network element to complete the logical processing.
  • the first process in the embodiment of the present application needs to be executed when the following conditions are met: the first network element has the computing power to execute the first process, and the second network element does not have the capability to execute the first process.
  • One processing power One processing power.
  • processing logic that does not require high computing power such as FFT feature processing and SVM classification processing of millimeter wave radar signals, can be offloaded to the first network element, and the first network element will perform the corresponding processing and complete it in collaboration with the second network element.
  • processing logic that requires high computing power such as using deep learning to perform convolution calculations on images and then classify them, can be offloaded to the first network element for execution after the computing power of the first network element is further improved.
  • the second network element does not have the computing power or ability to perform the first processing and cannot support the functional characteristics corresponding to the first processing, while the first network element has the computing power or ability to perform the first processing.
  • the second network element offloads the processing logic corresponding to the first processing to the first network element, that is, the first network element performs the first processing on the first data to be processed, and uses the first network element to cooperate with the second network element to complete the logical processing, It can solve the technical problem that the second network element cannot perform the first processing due to insufficient computing resources and other reasons, so that the stock vehicle equipped with the second network element can also support the functional characteristics corresponding to the first processing, and it can also reduce the first processing cost.
  • the waste of resources caused by the excess computing power resources of network elements improves the utilization rate of computing power resources of the first network element.
  • the specific type of processing logic to be offloaded from the second network element to the first network element can be determined based on the computing power of the first network element and the second network element.
  • the first network element in the embodiment of the present application includes a network element that has the ability to perform the first process
  • the second network element includes a network element that does not have the ability to perform the first process, or is a network element that does not perform the first process. .
  • the first network element is a network element including a micro-processing unit MPU and a micro-control unit MCU, that is, the first network element has sufficient computing power resources and has the computing power to perform the first processing; the first network element may also be A network element including a micro control unit MCU.
  • the micro control unit MCU included in the first network element has relatively sufficient computing power resources and is sufficient to perform the first processing. This is not limited in the embodiment of the present application.
  • S403 The first network element sends the first processing result to the second network element.
  • the second network element receives the first processing result sent by the first network element.
  • the first processing result is used for vehicle control by a second network element.
  • the second network element includes a network element that does not have the ability to perform the first processing, or a network element that does not perform the first processing. Among them, the second network element does not have the ability to perform the first processing.
  • a network element that has the ability to perform the first process can be understood as a possible situation of a network element that does not perform the first process.
  • part of the processing logic is offloaded from the second network element to the first network element, and the first network element is used to cooperate with the second network element to complete the logical processing, which can solve the problem that the second network element cannot perform the second network element due to insufficient computing resources and other reasons.
  • the existing vehicles equipped with the second network element can also support the new functional features provided by the chip update of the second network element; and it can also reduce the problems caused by the surplus computing power resources of the first network element.
  • the first processing result obtained by the first processing can also reduce the consumption of link resources and ensure smooth communication.
  • the second network element can perform vehicle control based on the received first processing result, or the second network element can also perform collaborative calculation based on the received first processing result and other to-be-processed data or other processing results, and then perform collaborative calculation based on the collaborative calculation.
  • the obtained results are used for vehicle control.
  • the second network element can also forward the received first processing result to other network elements, and the other network elements can control the vehicle, thereby realizing the vehicle control function.
  • S405 Carry out vehicle control based on the first processing result.
  • the first network element performs vehicle control according to the first processing result.
  • steps S405 and S404 are two optional steps. How to process the results obtained by executing the processing logic can be determined according to the situation of the in-vehicle network.
  • the second network element may control a domain controller such as the power domain or the chassis domain according to the first processing result.
  • the first network element may control body equipment such as wipers, lights, and windows according to the first processing result.
  • the current stock cars equipped with the second network element cannot support the new functions and features provided by the chip update of the second network element.
  • the embodiment of the present application offloads part of the processing logic from the second network element to the first network element, that is, the first network element performs the first processing on the first data to be processed, and uses the first network element to Collaborating with the second network element to complete logical processing can enable the existing vehicles equipped with the second network element to support new functions and features provided by the chip update of the second network element, and can also solve the problem of insufficient computing resources of the second network element.
  • Figure 5 is a schematic flow chart of another collaborative vehicle control method provided by an embodiment of the present application. Alternatively, it can also be understood as a modification or supplement of the flow chart of the collaborative vehicle control method in Figure 4. Specifically, it should be understood that this is a supplementary explanation of the content of steps S401, S402, S403, and S405 performed by the first network element in Figure 4.
  • the collaborative vehicle control method in the embodiment of the present application is applied in the field of intelligent driving technology.
  • the collaborative vehicle control method includes but is not limited to the following steps:
  • the first network element obtains the first data to be processed.
  • the first network element in the embodiment of the present application is a network element/device equipped with a processor that can be used to execute computer execution instructions. It can be a terminal device (such as a vehicle-mounted terminal), etc., specifically it can be the above-mentioned Figure 2 and Figure 3
  • the vehicle-mounted gateway in the collaborative vehicle control system shown, or the network element/device integrated with the intelligent driving collaborative system shown in Figure 2 and Figure 3, is used to execute the collaborative vehicle control method in the embodiment of the present application, and Part of the processing logic is offloaded from the second network element to the first network element, and the first network element is used to cooperate with the second network element to complete the logical processing to solve the problem that the second network element cannot perform the first processing due to insufficient computing resources and other reasons. problem, so that existing vehicles equipped with the second network element can also support new functions and features provided by the chip update of the second network element.
  • the first data to be processed may be obtained by the sensing network element directly sending the collected first data to be processed to the first network element, or the sensing network element may send the collected first data to be processed. to the second network element.
  • the second network element determines that the first data to be processed belongs to the processing logic part that is offloaded to the first network element, the second network element sends the first data to be processed to the first network element.
  • the second network element in the embodiment of the present application is a network element/device equipped with a processor that can be used to execute computer execution instructions. It can be a terminal device (such as a vehicle-mounted terminal), etc., specifically it can be the above-mentioned Figure 2 and Figure 3
  • the intelligent driving system in the collaborative vehicle control system shown above may be a network element/device that integrates the intelligent driving collaborative system shown in Figures 2 and 3 above, such as an intelligent driving domain controller, or an intelligent cockpit domain control.
  • controller used to execute the collaborative vehicle control method in the embodiment of the present application, offload part of the processing logic from the second network element to the first network element, and use the first network element to cooperate with the second network element to complete the Logical processing to solve the technical problem of the second network element being unable to perform the first processing due to insufficient computing resources and other reasons, so that stock vehicles equipped with the second network element can also support new technologies provided by the chip update of the second network element. functional characteristics.
  • the sensing network element in the embodiment of this application is a network element/device equipped with a processor that can be used to execute computer execution instructions, and can be a radar, camera, or other vehicle-mounted equipment used to collect sensing data.
  • S502 According to the first information, determine to perform the first processing on the first data to be processed.
  • the first network element determines to perform first processing on the first data to be processed based on the first information.
  • the first information is used to indicate the third network element that sends the first data to be processed.
  • the third network element is a sensing network element that collects and sends the first data to be processed.
  • it can be a radar, a camera, etc. used to collect sensing. Data on-board equipment.
  • the first information may include information about the third network element that sends the first data to be processed, such as the identification of the third network element, the address of the third network element, and other information; the first information may also include the first data to be processed.
  • the path information is transmitted from the third network element to the first network element, so that the third network element can be determined based on the path information.
  • the first network element may also send a request to the second network element to request to perform the first processing on the first data to be processed.
  • the second network element sends the first information to the first network element.
  • the first information is also used to indicate that the first network element is allowed to perform the first process.
  • S503 According to the second information, perform the first processing on the first data to be processed, and obtain the first processing result.
  • the first network element performs first processing on the first data to be processed according to the second information, and obtains a first processing result.
  • the second information includes the correspondence between the first data to be processed and the first processing.
  • the first processing corresponding to the first data to be processed can be logical processing of image or video algorithm type; when the first data to be processed is from temperature sensing When the temperature data of the device is obtained, the first processing corresponding to the first data to be processed may be a logical processing of the temperature algorithm type.
  • the second information also includes information related to the first process, where the related information includes but is not limited to at least one of the following: processing logic information required to execute the first process, parameter information required to execute the first process , and configuration information for performing the first processing.
  • the first network element can determine the processing logic information required to perform the first processing on the first data to be processed according to the configuration information, and then call the corresponding processing logic information to perform the first processing, and when performing the first processing, it will coordinate The parameter information required for the first processing is calculated accordingly to obtain the first processing result, which is used to complete logical processing in collaboration with the second network element.
  • S504 According to the first information, determine to send the first processing result to the second network element.
  • the first network element determines to send the first processing result to the second network element according to the first information.
  • the second network element receives the first processing result sent by the first network element, and the first processing result is used by the second network element. Carry out vehicle control.
  • the first information is used to indicate the second network element.
  • the first information may include information about the second network element, such as the identifier of the second network element, the address of the second network element, and other information; the first information may also include the first processing result transmitted from the first network element to the third network element.
  • the path information of the two network elements can be used to determine the second network element based on the path information, and then determine to send the first processing result to the second network element based on the first information.
  • the first information does not indicate the second network element, it means that the first network element does not need to send the first processing result to the second network element, and the first network element performs vehicle control based on the first processing result.
  • steps S505 and S504 are two optional steps. How to process the results obtained by executing the processing logic can be determined according to the situation of the in-vehicle network, and this application does not limit this.
  • the second network element may control a domain controller such as the power domain or the chassis domain according to the first processing result.
  • the first network element may control body equipment such as wipers, lights, and windows according to the first processing result.
  • the embodiment of this application offloads part of the processing logic from the second network element to the first network element, that is, the first network element performs the first processing on the first data to be processed, and uses the first network element to cooperate with the second network element to complete the logical processing. It can enable the existing vehicles equipped with the second network element to support new functional features provided by the chip update of the second network element, and can also solve the problem that the second network element cannot perform corresponding logical processing due to insufficient computing resources and other reasons.
  • FIG. 6 is a schematic diagram of a communication route provided by an embodiment of the present application.
  • the first network element can be a vehicle gateway
  • the second network element can be an intelligent driving system
  • the third network element can be a lidar.
  • the first information is used to indicate the third network element (lidar) that sends the first data to be processed.
  • the first information may include information about the lidar that sends the first data to be processed, such as the identification of the lidar, the lidar address (IP address is 192.168.55.11) and other information.
  • the first information is used to indicate the second network element (intelligent driving system).
  • the first information may include information about the intelligent driving system, such as the identification of the intelligent driving system, the address of the intelligent driving system (the IP address is 192.168.55.31), and other information.
  • the first information is used to indicate the first network element (vehicle gateway).
  • the first information may include information about the vehicle gateway, such as the identification of the vehicle gateway and the address of the vehicle gateway (the IP address of network port 1 is 192.168.55.21, and the IP address of network port 2 is 192.168.55.21.
  • the IP address is 192.168.55.22) and other information.
  • the first network element can obtain the first data to be processed from the lidar with the IP address 192.168.55.11, perform the first processing on the first data to be processed, and obtain the first processing result. , and sends the first processing result to the intelligent driving system with the IP address 192.168.55.31.
  • the data transmission path is: the first data to be processed is transmitted from the lidar (IP address is 192.168.55.11) to the vehicle-mounted gateway (the IP address of network port 1 is 192.168.55.21), and the first processing result is transmitted from the vehicle-mounted gateway (network port 1).
  • the IP address of port 2 is 192.168.55.22) and transmitted to the intelligent driving system (IP address is 192.168.55.31).
  • the first network element can determine which of the acquired data to be processed should be processed based on the first information, so that it can determine to perform the first processing on the first data to be processed based on the first information, in collaboration with the third network element.
  • the completion of logical processing by the second network element can solve the technical problem of the second network element being unable to perform the first processing due to insufficient computing resources and other reasons, so that stock vehicles equipped with the second network element can also support chip updates due to the second network element. New features provided.
  • FIG. 7 is a schematic diagram of an over-the-air upgrade OTA provided by an embodiment of the present application.
  • the OTA server combines the above first information and the second information into an upgrade package.
  • the first information includes information indicating the communication route between the laser radar, the vehicle gateway, and the intelligent driving system.
  • the communication route includes the following information:
  • Starting address 1 is the lidar with IP address 192.168.55.11;
  • Target address 1 is the vehicle gateway network port 1 with the IP address 192.168.55.21;
  • the starting address 2 is the vehicle gateway network port 2 with the IP address 192.168.55.22;
  • Target address 2 is the intelligent driving system with the IP address 192.168.55.31.
  • the second information includes ADAS-related information, which includes but is not limited to at least one of the following: processing logic information required to execute the first process, parameter information required to execute the first process, and configuration information to execute the first process.
  • ADAS related information includes the following information:
  • the IP address 192.168.55.11 corresponds to the configuration information of the logical processing function func1.
  • the data to be processed comes from the lidar with the IP address of 192.168.55.11. Then according to the configuration information in the ADAS related information, the logical processing function func1 corresponding to the lidar is determined, and from the ADAS related information The logical processing function func1 corresponding to the lidar is called to process the data to be processed. During the processing, the parameter param1 corresponding to the logical processing function func1 in the ADAS related information is calculated and the processing result is obtained.
  • the first network element obtains the upgrade package from the OTA server through OTA technology, and updates the first information and the second information according to the updated first information and second information. It is determined to perform corresponding first processing on the first data to be processed, and the logical processing is completed in cooperation with the second network element.
  • the above-mentioned upgrade processing performed on the first information and the second information through the over-the-air upgrade OTA technology and the above-mentioned first processing performed on the first data to be processed may be a single-thread processing relationship with sequential order, or may be The embodiments of this application do not limit the multi-thread parallel processing relationship in any order.
  • Figure 8 is a schematic flow chart of another collaborative vehicle control method provided by an embodiment of the present application. Alternatively, it can also be understood as a modification or supplement of the flow chart of the collaborative vehicle control method in Figure 4. Specifically, This is understood to be a supplementary explanation of the content of steps S403 and S404 performed by the second network element in Figure 4 above.
  • the collaborative vehicle control method in the embodiment of the present application is applied in the field of intelligent driving technology.
  • the collaborative vehicle control method includes but is not limited to the following steps:
  • the second network element obtains the first processing result. Specifically, the first network element sends the first processing result to the second network element, and accordingly, the second network element receives the first processing result sent by the first network element.
  • the first processing result includes the result obtained by the first network element performing the first processing on the first to-be-processed data.
  • the first processing result is used by the second network element to perform vehicle control.
  • the second network element includes a device that does not have the ability to execute the first data.
  • the first network element in the embodiment of the present application is a network element/device equipped with a processor that can be used to execute computer execution instructions. It can be a terminal device (such as a vehicle-mounted terminal), etc., specifically it can be the above-mentioned Figure 2 and Figure 3
  • the vehicle-mounted gateway in the collaborative vehicle control system shown, or the network element/device integrated with the intelligent driving collaborative system shown in Figure 2 and Figure 3, is used to execute the collaborative vehicle control method in the embodiment of the present application, and Part of the processing logic is offloaded from the second network element to the first network element, and the first network element is used to cooperate with the second network element to complete the logical processing to solve the problem that the second network element cannot perform the first processing due to insufficient computing resources and other reasons. problem, so that existing vehicles equipped with the second network element can also support new functions and features provided by the chip update of the second network element.
  • the second network element in the embodiment of the present application is a network element/device equipped with a processor that can be used to execute computer execution instructions. It can be a terminal device (such as a vehicle-mounted terminal), etc. Specifically, it can be as shown in Figure 2 and Figure 3 above.
  • the intelligent driving system in the collaborative vehicle control system, or the network element/device that integrates the intelligent driving collaborative system shown in Figure 2 and Figure 3 above, such as an intelligent driving domain controller, or an intelligent cockpit domain controller, The vehicle domain controller, etc., is used to execute the collaborative vehicle control method in the embodiment of the present application, offload part of the processing logic from the second network element to the first network element, and use the first network element to cooperate with the second network element to complete the logic processing. , to solve the technical problem of the second network element being unable to perform the first processing due to insufficient computing resources and other reasons, so that stock vehicles equipped with the second network element can also support new functions provided by the chip update of the second network element. characteristic.
  • the second network element performs vehicle control according to the first processing result.
  • the second network element controls domain controllers such as the power domain or chassis domain according to the first processing result, or controls body equipment such as wipers, lights, and windows according to the first processing result.
  • domain controllers such as the power domain or chassis domain according to the first processing result
  • body equipment such as wipers, lights, and windows according to the first processing result.
  • the second network element can also forward the received first processing result to other network elements, and the other network elements can control the vehicle, thereby realizing the vehicle control function.
  • the second data to be processed can come from the same sensing network element as the first data to be processed.
  • the second data to be processed can also come from different sensing network elements.
  • the second processing result can be other network elements' responses to the second data to be processed.
  • the processing result obtained by performing the second processing may also be the processing result obtained by performing the second processing on the second data to be processed by the second network element, and the embodiment of the present application does not limit this.
  • S804 Perform fusion processing on the first processing result and the second processing result or the second data to be processed to obtain the fusion result.
  • the second network element performs vehicle control according to the fusion result.
  • the fusion result is associated with the first processing result and the second processing result. Specifically, it can be the result obtained by fusion processing of the first processing result and the second processing result, or the fusion result
  • the result is associated with the first processing result and the second data to be processed. Specifically, it may be the result obtained by fusion processing of the first processing result and the second data to be processed. The embodiment of the present application does not limit this.
  • the second network element controls domain controllers such as the power domain or chassis domain based on the fusion results, or controls body equipment such as wipers, lights, and windows based on the fusion results.
  • domain controllers such as the power domain or chassis domain based on the fusion results
  • body equipment such as wipers, lights, and windows based on the fusion results.
  • the second network element can also send the obtained fusion result to other network elements, and the other network elements can control the vehicle, thereby realizing the vehicle control function.
  • the embodiment of this application offloads part of the processing logic from the second network element to the first network element, that is, the first network element performs the first processing on the first data to be processed, and uses the first network element to cooperate with the second network element to complete the logical processing. It can enable the existing vehicles equipped with the second network element to support new functional features provided by the chip update of the second network element, and can also solve the problem that the second network element cannot perform corresponding logical processing due to insufficient computing resources and other reasons.
  • a device for implementing any method in the embodiment of the present application.
  • a device is provided that includes a device for implementing any of the above methods.
  • FIG. 9 is a schematic structural diagram of a collaborative vehicle control device provided by an embodiment of the present application.
  • the collaborative vehicle control device 90 may include a transceiver unit 901 and a processing unit 902 .
  • the transceiver unit 901 and the processing unit 902 may be software, hardware, or a combination of software and hardware.
  • the transceiver unit 901 can implement a sending function and/or a receiving function, and the transceiver unit 901 can also be described as a communication unit.
  • the transceiver unit 901 may also be a unit that integrates an acquisition unit and a sending unit, where the acquisition unit is used to implement the receiving function and the sending unit is used to implement the sending function.
  • the transceiver unit 901 can be used to receive information sent by other devices, and can also be used to send information to other devices.
  • the collaborative vehicle control device 90 may correspond to the first network element in the method embodiment shown in FIG. 4 and FIG. 5 , for example, the collaborative vehicle control device 90 may be the first network element, It can also be the chip in the first network element.
  • the collaborative vehicle control device 90 may include units for performing operations performed by the first network element in the method embodiments shown in FIGS. 4 and 5 , and each unit in the collaborative vehicle control device 90 is respectively for Implement the operations performed by the first network element in the method embodiments shown in FIG. 4 and FIG. 5 .
  • the descriptions of each unit are as follows:
  • Processing unit 902 used to obtain the first data to be processed
  • the processing unit 902 is also configured to perform first processing on the first data to be processed to obtain a first processing result
  • the transceiver unit 901 is configured to send the first processing result to a second network element, where the first processing result is used for the second network element to perform vehicle control, wherein the second network element does not execute the The first network element processed;
  • the processing unit 902 is further configured to perform vehicle control according to the first processing result, and the collaborative vehicle control device includes a vehicle-mounted gateway.
  • the second network element further includes a network element that does not have the ability to perform the first process.
  • the processing unit 902 is further configured to determine, based on the first information, to perform the first processing on the first data to be processed before performing the first processing on the first data to be processed. First processing; wherein the first information is used to instruct execution of the first processing.
  • the first information is also used to indicate that the collaborative vehicle control device is allowed to perform the first process.
  • the first information is also used to indicate a third network element that sends the first data to be processed
  • the processing unit 902 is also configured to determine to perform the first processing on the first to-be-processed data from the third network element.
  • the first information is also used to indicate the second network element
  • the processing unit 902 is further configured to determine to send the first processing result to the second network element according to the first information.
  • the processing unit 902 is specifically configured to perform the first processing on the first data to be processed according to second information; wherein the second information includes the first data to be processed. Correspondence between processing data and the first processing.
  • the second information also includes information related to the first processing, and the related information to the first processing includes at least one of the following:
  • Processing logic information required to execute the first process Processing logic information required to execute the first process, parameter information required to execute the first process, and configuration information to execute the first process.
  • the second information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or the second network element.
  • the first information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or a network element with a communication orchestration function.
  • the transceiver unit is further configured to send first capability information, where the first capability information represents that the collaborative vehicle control device has the ability to perform the first process.
  • the first capability information includes information on computing power capabilities required to perform the first process.
  • the first capability information is sent in at least one of the following ways: broadcast message, or point-to-point sending.
  • the first process is executed when the following conditions are met: the collaborative vehicle control device has the computing power to execute the first process, and the second network element does not have the capability to execute The computing power of the first processing.
  • the collaborative vehicle control device includes a microprocessing unit MPU and a microcontrol unit MCU.
  • the collaborative vehicle control device 90 may correspond to the second network element in the method embodiments shown in FIG. 4 and FIG. 8 , for example, the collaborative vehicle control device 90 may be the second network element. , or it can be the chip in the second network element.
  • the collaborative vehicle control device 90 may include units for performing operations performed by the second network element in the method embodiments shown in FIGS. 4 and 8 , and each unit in the collaborative vehicle control device 90 is respectively for Implement the operations performed by the second network element in the method embodiments shown in FIG. 4 and FIG. 8 .
  • the descriptions of each unit are as follows:
  • the transceiver unit 901 is configured to receive a first processing result sent by a first network element.
  • the first processing result includes a processing result obtained by the first network element performing a first processing on the first data to be processed.
  • the collaborative control The vehicle device includes a network element that does not perform the first process;
  • the processing unit 902 is configured to perform vehicle control according to the first processing result.
  • the processing unit 902 is also configured to perform vehicle control according to the fusion result, wherein the fusion result is associated with the first processing result and the second processing result, or the The fusion result is associated with the first processing result and the second data to be processed, and the second processing result includes the processing result obtained by performing a second processing on the second data to be processed by the collaborative vehicle control device.
  • the collaborative vehicle control device further includes a network element that does not have the ability to perform the first process.
  • performing the first processing on the first data to be processed is associated with first information, and the first information is used to instruct execution of the first processing.
  • the first information is also used to indicate that the first network element is allowed to perform the first process.
  • the first information is also used to indicate a third network element that sends the first to-be-processed data; and the first to-be-processed data from the third network element is processed.
  • the first processing is associated with the first information.
  • the first information is also used to instruct the collaborative vehicle control device; determining whether to send the first processing result to the collaborative vehicle control device is associated with the first information.
  • performing the first processing on the first data to be processed is associated with second information; wherein the second information includes the first data to be processed and the first data to be processed. processing correspondence.
  • the second information also includes information related to the first processing, and the related information to the first processing includes at least one of the following:
  • Processing logic information required to execute the first process Processing logic information required to execute the first process, parameter information required to execute the first process, and configuration information to execute the first process.
  • the second information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or the collaborative vehicle control device.
  • the first information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or a network element with a communication orchestration function.
  • the transceiver unit 901 is further configured to receive first capability information, where the first capability information indicates that the first network element has the ability to perform the first process.
  • the first capability information includes information on computing power capabilities required to perform the first process.
  • the first capability information is received in at least one of the following ways: broadcast message, or point-to-point reception.
  • the first process is executed when the following conditions are met: the first network element has the computing power to execute the first process, and the collaborative vehicle control device does not have the capability to execute The computing power of the first processing.
  • the first network element includes a microprocessing unit MPU and a microcontrol unit MCU.
  • each unit in the device shown in Figure 9 can be separately or entirely combined into one or several additional units, or one (some) of the units can be further divided into functionally more advanced units. It is composed of multiple small units, which can achieve the same operation without affecting the realization of the technical effects of the embodiments of the present application.
  • the above units are divided based on logical functions. In practical applications, the function of one unit can also be realized by multiple units, or the functions of multiple units can be realized by one unit. In other embodiments of the present application, the electronic device may also include other units. In practical applications, these functions may also be implemented with the assistance of other units, and may be implemented by multiple units in cooperation.
  • each unit may also refer to the corresponding descriptions of the method embodiments shown in FIG. 4, FIG. 5, and FIG. 8.
  • part of the processing logic is offloaded from the second network element to the first network element, and the first network element is used to cooperate with the second network element to complete the logical processing, which can solve the problem of the second network element.
  • Technical problems that prevent the first processing due to insufficient computing resources and other reasons enable existing vehicles equipped with the second network element to support new functions and features provided by the chip update of the second network element.
  • FIG. 10 is a schematic structural diagram of an electronic device 100 provided by an embodiment of the present application.
  • the electronic device 100 may include a memory 1001 and a processor 1002. Further optionally, a communication interface 1003 and a bus 1004 may also be included, wherein the memory 1001, the processor 1002, and the communication interface 1003 implement communication connections with each other through the bus 1004.
  • the communication interface 1003 is used for data exchange with the above-mentioned collaborative vehicle control device 90 .
  • the memory 1001 is used to provide storage space, and data such as operating systems and computer programs can be stored in the storage space.
  • Memory 1001 includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read only memory (EPROM), or Portable read-only memory (compact disc read-only memory, CD-ROM).
  • the processor 1002 is a module that performs arithmetic operations and logical operations, and can be a processing module such as a central processing unit (CPU), a graphics processor (GPU) or a microprocessor (microprocessor unit, MPU). one or a combination of multiple.
  • a processing module such as a central processing unit (CPU), a graphics processor (GPU) or a microprocessor (microprocessor unit, MPU). one or a combination of multiple.
  • the electronic device 100 may correspond to the first network element in the method embodiment shown in FIG. 4 and FIG. 5 , for example, the electronic device 100 may be the first network element or the first network element. A chip in a network element.
  • the electronic device 100 may include components for performing the operations performed by the first network element in the above method embodiment, and each component in the electronic device 100 is respectively used to implement the operations performed by the first network element in the above method embodiment.
  • the processor 1002 calls the computer program stored in the memory 1001 to execute the collaborative vehicle control method shown in Figure 4 and Figure 5. Specifically, it can be as follows:
  • the first network element obtains the first data to be processed
  • the first network element performs a first process on the first data to be processed, and obtains a first processing result
  • the first network element sends the first processing result to the second network element, and the first processing result is used by the second network element to perform vehicle control, wherein the second network element does not execute the The first network element processed;
  • the first network element performs vehicle control according to the first processing result, and the first network element includes a vehicle-mounted gateway.
  • the second network element further includes a network element that does not have the ability to perform the first process.
  • the method before performing the first processing on the first data to be processed, the method further includes:
  • the first information it is determined to perform the first processing on the first data to be processed; wherein the first information is used to indicate performing the first processing.
  • the first information is also used to indicate that the first network element is allowed to perform the first process.
  • the first information is also used to indicate a third network element that sends the first data to be processed
  • Determining to perform the first processing on the first data to be processed includes:
  • the first information is also used to indicate the second network element
  • the sending of the first processing result to the second network element includes:
  • the first information it is determined to send the first processing result to the second network element.
  • performing the first processing on the first data to be processed includes:
  • the second information includes a correspondence between the first data to be processed and the first processing.
  • the second information also includes information related to the first processing, and the related information to the first processing includes at least one of the following:
  • Processing logic information required to execute the first process Processing logic information required to execute the first process, parameter information required to execute the first process, and configuration information to execute the first process.
  • the second information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or the second network element.
  • the first information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or a network element with a communication orchestration function.
  • the method further includes:
  • the first network element sends first capability information, and the first capability information indicates that the first network element has the ability to perform the first process.
  • the first capability information includes information on computing power capabilities required to perform the first process.
  • the first capability information is sent in at least one of the following ways: broadcast message, or point-to-point sending.
  • the first processing is executed when the following conditions are met: the first network element has the computing power to execute the first processing, and the second network element does not have the computing power to execute The computing power of the first processing.
  • the first network element includes a microprocessing unit MPU and a microcontrol unit MCU.
  • the processor 1002 calls the computer program stored in the memory 1001 and can also be used to execute the method steps performed by each unit in the collaborative vehicle control device 90 shown in the above-mentioned Figure 9.
  • the specific content can be referred to the above-mentioned Figure 9. No further details will be given here.
  • the electronic device 100 may correspond to the second network element in the method embodiments shown in FIG. 4 and FIG. 8.
  • the electronic device 100 may be the second network element or the second network element.
  • the electronic device 100 may include components for performing the operations performed by the second network element in the above method embodiment, and each component in the electronic device 100 is respectively used to implement the operations performed by the second network element in the above method embodiment.
  • the processor 1002 calls the computer program stored in the memory 1001 to execute the collaborative vehicle control method shown in Figure 4 and Figure 8. Specifically, it can be as follows:
  • the second network element receives the first processing result sent by the first network element.
  • the first processing result includes the processing result obtained by the first network element performing the first processing on the first data to be processed.
  • the second network element It is a network element that does not perform the first process;
  • the second network element performs vehicle control according to the first processing result.
  • the second network element performs vehicle control based on the first processing result, including:
  • the second network element performs vehicle control according to the fusion result, wherein the fusion result is associated with the first processing result and the second processing result, or the fusion result is associated with the first processing result and the second processing result.
  • the data to be processed is associated, and the second processing result includes a processing result obtained by performing a second processing on the second data to be processed by the second network element.
  • the second network element further includes a network element that does not have the ability to perform the first process.
  • performing the first processing on the first data to be processed is associated with first information, and the first information is used to instruct execution of the first processing.
  • the first information is also used to indicate that the first network element is allowed to perform the first process.
  • the first information is also used to indicate a third network element that sends the first to-be-processed data; and the first to-be-processed data from the third network element is processed.
  • the first processing is associated with the first information.
  • the first information is also used to instruct the second network element; determining that sending the first processing result to the second network element is associated with the first information.
  • performing the first processing on the first data to be processed is associated with second information; wherein the second information includes the first data to be processed and the first data to be processed. processing correspondence.
  • the second information also includes information related to the first processing, and the related information to the first processing includes at least one of the following:
  • Processing logic information required to execute the first process Processing logic information required to execute the first process, parameter information required to execute the first process, and configuration information to execute the first process.
  • the second information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or the second network element.
  • the first information is obtained according to at least one of the following methods: over-the-air upgrade OTA, or pre-configuration, or a network element with a communication orchestration function.
  • the method further includes:
  • the second network element receives first capability information, and the first capability information represents that the first network element has the ability to perform the first process.
  • the first capability information includes information on computing power capabilities required to perform the first process.
  • the first capability information is received in at least one of the following ways: broadcast message, or point-to-point reception.
  • the first processing is executed when the following conditions are met: the first network element has the computing power to execute the first processing, and the second network element does not have the computing power to execute The computing power of the first processing.
  • the first network element includes a microprocessing unit MPU and a microcontrol unit MCU.
  • the processor 1002 calls the computer program stored in the memory 1001 and can also be used to execute the method steps performed by each unit in the collaborative vehicle control device 90 shown in the above-mentioned Figure 9.
  • the specific content can be referred to the above-mentioned Figure 9. No further details will be given here.
  • part of the processing logic is offloaded from the second network element to the first network element, and the first network element is used to cooperate with the second network element to complete the logical processing, which can solve the problem of the second network element's computing power.
  • Technical problems that prevent the first processing due to insufficient resources and other reasons enable existing vehicles equipped with the second network element to support new functions and features provided by the chip update of the second network element.
  • the electronic device may be a chip or a chip system
  • the schematic structural diagram of the chip shown in FIG. 11 refer to the schematic structural diagram of the chip shown in FIG. 11 .
  • the chip 110 includes a processor 1101 and an interface 1102.
  • the number of processors 1101 may be one or more, and the number of interfaces 1102 may be multiple. It should be noted that the corresponding functions of the processor 1101 and the interface 1102 can be realized through hardware design, software design, or a combination of software and hardware, which are not limited here.
  • the chip 110 may also include a memory 1103, which is used to store necessary program instructions and data.
  • the processor 1101 can be used to call from the memory 1103 a program for implementing the collaborative vehicle control method provided by one or more embodiments of this application in an electronic device, and execute the instructions contained in the program.
  • the interface 1102 may be used to output execution results of the processor 1101. In this application, the interface 1102 may be specifically used to output various messages or information from the processor 1101.
  • the processor in the embodiment of the present application can be a central processing unit (Central Processing Unit, CPU).
  • the processor can also be other general-purpose processors, digital signal processors (digital signal processor, DSP), application specific integrated circuits (application specific integrated circuit (ASIC), off-the-shelf programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.
  • the memory in the embodiment of the present application is used to provide storage space, and data such as operating systems and computer programs can be stored in the storage space.
  • Memory includes but is not limited to random access memory (RAM), read-only memory (ROM), erasable programmable read only memory (EPROM), or portable Read-only memory (compact disc read-only memory, CD-ROM).
  • the embodiment of the present application also provides a computer-readable storage medium.
  • the computer-readable storage medium stores a computer program.
  • the embodiment of the present application also provides a computer program product.
  • the above-mentioned computer program product includes a computer program.
  • FIG. 4 When the above-mentioned computer program is run on a processor, the above-mentioned FIG. 4, FIG. 5 and FIG. The method shown in 8.
  • the embodiment of the present application provides a vehicle terminal, which includes at least one collaborative vehicle control device 90 or electronic device 100 or chip 110 as described above.
  • Embodiments of the present application also provide a system, which includes a vehicle terminal and at least one collaborative vehicle control device 90 or electronic device 100 or chip 110 as described above, for executing any of the embodiments of FIG. 4, FIG. 5, and FIG. 8. Steps performed by the corresponding network element.
  • An embodiment of the present application also provides a system.
  • the system includes a first network element and a second network element, wherein the first network element is used to perform any of the embodiments in FIG. 4, FIG. 5, and FIG. 8.
  • the steps performed by the first network element, and the second network element is used to perform the steps performed by the second network element in any of the embodiments in FIG. 4, FIG. 5, and FIG. 8.
  • An embodiment of the present application also provides a processing device, including a processor and an interface; the processor is configured to execute the method in any of the above method embodiments.
  • the above processing device may be a chip.
  • the processing device may be a field programmable gate array (FPGA), a general processor, a digital signal processor (DSP), or an application specific integrated circuit (ASIC).
  • FPGA field programmable gate array
  • DSP digital signal processor
  • ASIC application specific integrated circuit
  • FPGA off-the-shelf programmable gate array
  • SoC system on chip
  • SoC system on chip
  • It can be a central processor unit (CPU), a network processor (NP), a digital signal processing circuit (digital signal processor, DSP), or a microcontroller (micro controller unit, MCU).
  • PLD programmable logic device
  • a general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.
  • the steps of the method disclosed in conjunction with the embodiments of the present application can be directly implemented by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor.
  • the software module can be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other mature storage media in this field.
  • the storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.
  • non-volatile memory can be read-only memory (ROM), programmable ROM (PROM), erasable programmable read-only memory (erasable PROM, EPROM), electrically removable memory. Erase electrically programmable read-only memory (EPROM, EEPROM) or flash memory. Volatile memory can be random access memory (RAM), which is used as an external cache.
  • RAM random access memory
  • RAM static random access memory
  • DRAM dynamic random access memory
  • SDRAM synchronous dynamic random access memory
  • double data rate SDRAM double data rate SDRAM
  • DDR SDRAM double data rate SDRAM
  • ESDRAM enhanced synchronous dynamic random access memory
  • SLDRAM synchronous link dynamic random access memory
  • direct rambus RAM direct rambus RAM
  • the computer program product includes one or more computer instructions.
  • the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device.
  • the computer instructions may be stored in or transmitted from one computer-readable storage medium to another, e.g., the computer instructions may be transferred from a website, computer, server, or data center Transmission to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) means.
  • the computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains one or more available media integrated.
  • the usable media may be magnetic media (e.g., floppy disks, hard disks, tapes), optical media (e.g., high-density digital video discs (DVD)), or semiconductor media (e.g., solid state disks, SSD)) etc.
  • magnetic media e.g., floppy disks, hard disks, tapes
  • optical media e.g., high-density digital video discs (DVD)
  • DVD digital video discs
  • semiconductor media e.g., solid state disks, SSD
  • the units in each of the above device embodiments correspond completely to the electronic equipment in the method embodiments, and the corresponding modules or units perform corresponding steps.
  • the communication unit transmits the steps of receiving or sending in the method embodiments, except for sending.
  • other steps besides receiving may be performed by the processing unit (processor).
  • the processing unit processor
  • the electronic device can perform some or all of the steps in the embodiments of the present application. These steps or operations are only examples. The embodiments of the present application can also perform other operations or variations of various operations. In addition, various steps may be performed in a different order than those presented in the embodiments of the present application, and it may not be necessary to perform all operations in the embodiments of the present application.
  • the disclosed systems, devices and methods can be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined or can be integrated into another system, or some features can be ignored, or not implemented.
  • the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the devices or units may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in various embodiments of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
  • the computer software product is stored in a storage medium and includes a number of instructions to A computer device (which may be a personal computer, a server, or a network device, etc.) is caused to execute all or part of the steps of the methods described in various embodiments of this application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory ROM, random access memory RAM, magnetic disk or optical disk and other various media that can store program codes.

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Abstract

一种协同控车方法，涉及智能驾驶技术领域。该方法包括:第一网元获取第一待处理数据；第一网元对第一待处理数据进行第一处理，得到第一处理结果；第一网元向第二网元发送第一处理结果，第一处理结果用于第二网元进行车辆控制，其中，第二网元为不执行第一处理的网元；或者，第一网元根据第一处理结果进行车辆控制，第一网元包括车载网关。本方法将部分处理逻辑从第二网元卸载到第一网元，利用第一网元协同第二网元完成逻辑处理，可以解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性。还涉及一种协同控车装置。

Description

一种协同控车方法及相关装置 技术领域
本申请涉及智能驾驶技术领域，尤其涉及一种应用于智能驾驶汽车上的协同控车方法及相关装置。
背景技术
智能驾驶系统是为驾驶者提供协助，包括提供重要或有益的驾驶相关信息的系统。一般的，智能驾驶系统部署在域控制器上，接入雷达、摄像头等感知器获取数据，经过本地计算决策，实现对底盘域和动力域进行相应的控制。
随着智能驾驶系统的芯片更新迭代，芯片算力的提升带来了智能驾驶系统决策性能的提升，为驾驶者提供了新的功能特性。
但是，针对使用旧芯片的智能驾驶系统的存量车，无法支持芯片更新所提供的新的功能特性。
发明内容
本申请实施例提供了一种协同控车方法及相关装置，将部分处理逻辑从智能驾驶系统卸载到车载网关，利用车载网关协同智能驾驶系统完成逻辑处理，可以使旧芯片的智能驾驶系统的存量车也能支持芯片更新所提供的新的功能特性。
第一方面，本申请实施例提供了一种协同控车方法，该方法包括：
第一网元获取第一待处理数据；
所述第一网元对所述第一待处理数据进行第一处理，得到第一处理结果；
所述第一网元向第二网元发送所述第一处理结果，所述第一处理结果用于所述第二网元进行车辆控制，其中，所述第二网元包括不执行所述第一处理的网元，或者，第二网元为不执行所述第一处理单元的网元；
或者，所述第一网元根据所述第一处理结果进行车辆控制，所述第一网元包括车载网关。
本申请实施例中，提供了一种协调控车方法，第一网元获取第一待处理数据，该第一待处理数据可以是感知网元直接发送给第一网元的，也可以是感知网元发送给第二网元，由第二网元判断该第一待处理数据是否属于卸载到第一网元的处理逻辑部分，在判断该第一待处理数据属于卸载到第一网元的处理逻辑部分的情况下，第二网元再将该第一待处理数据发送给第一网元。第一网元对获取到的第一待处理数据进行第一处理，得到第一处理结果，并向第二网元发送该第一处理结果，此时，第二网元可以根据第一处理结果进行车辆控制，也可以通过将该第一处理结果发送给其他网元，实现车辆控制的功能，其中，第一网元包括具备执行该第一处理的能力以及通信能力的网元，第二网元为不执行该第一处理的网元。或者，第一网元可以根据该第一待处理结果直接进行车辆控制，其中，第一网元包括具备执行该第一处理的能力以及通信能力的网元，比如可以是车载网关等。
目前搭载第二网元的存量车，无法支持由于第二网元的芯片更新所提供的新的功能特性。与目前的控车方法相比，本申请实施例将部分处理逻辑从第二网元卸载到第一网元，即第一 网元对第一待处理数据进行第一处理，利用第一网元协同第二网元完成逻辑处理，可以使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性，也能解决第二网元因算力资源不足等原因导致无法进行相应逻辑处理的技术缺陷，并且，还可以降低第一网元算力资源富余导致的资源浪费，提高第一网元的算力资源利用率。
在一种可能的实施方式中，所述第二网元还包括不具备执行所述第一处理的能力的网元。
在本申请实施例中，提供了一种第二网元的可能的具体实施方式，具体为，第二网元还包括不具备执行该第一处理的能力的网元，其中，不具备执行该第一处理的能力的网元，可以理解为是不执行该第一处理的网元的一种可能的情况。比如，第二网元可以是智能驾驶域控制器、智能座舱域控制器、整车域控制器等，由于第二网元的芯片更新或第二网元的算力资源不足等原因导致第二网元不具备执行该第一处理的能力。通过本申请实施例，将部分处理逻辑从第二网元卸载到第一网元，利用第一网元协同第二网元完成逻辑处理，可以解决第二网元不具备执行第一处理的能力的问题，使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性。
在一种可能的实施方式中，所述对所述第一待处理数据进行第一处理之前，所述方法还包括：
根据第一信息，确定对所述第一待处理数据进行所述第一处理；其中，所述第一信息用于指示执行所述第一处理。
在本申请实施例中，提供了一种确定对第一待处理数据进行第一处理的可能的具体实施方式，具体为，在对第一待处理数据进行第一处理之前，还根据第一信息，确定对第一待处理数据进行第一处理。通过本申请实施例，第一网元可以根据第一信息，确定应该对获取到的哪些待处理数据进行处理，从而可以根据第一信息，确定对第一待处理数据进行第一处理，协同第二网元完成逻辑处理，可以解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性。
在一种可能的实施方式中，所述第一信息还用于指示允许所述第一网元执行所述第一处理。
在本申请实施例中，提供了一种第一信息的可能的具体实施方式，具体为，第一信息还用于指示允许第一网元执行第一处理，在该情况下，第一网元获取第一待处理数据后，可以向第二网元发送一个请求，用于请求对第一待处理数据执行第一处理，相应的，第二网元接收到该请求后，向第一网元发送第一信息，用于指示允许该第一网元执行第一处理。通过本申请实施例，第二网元将部分处理逻辑卸载到第一网元，利用第一网元富余的算力资源处理该部分处理逻辑，但依然保留了是否允许执行该部分处理逻辑的控制权，利用第一网元协同第二网元完成逻辑处理，进而实现对应的车辆控制。
在一种可能的实施方式中，所述第一信息还用于指示发送所述第一待处理数据的第三网元；
所述确定对所述第一待处理数据进行所述第一处理，包括：
确定对来自所述第三网元的所述第一待处理数据进行所述第一处理。
在本申请实施例中，提供了一种第一信息的可能的具体实施方式，具体为，第一信息还用于指示发送第一待处理数据的第三网元，第三网元可以是采集并发送待处理数据的感知网元，该情况下，第一信息可以包括发送第一待处理数据的第三网元的信息，比如第三网元的标识等信息，第一信息也可以包括第一待处理数据从第三网元传输至第一网元的路径信息， 从而可以根据该路径信息确定第三网元。通过本申请实施例，可以根据第一信息确定第一待处理数据来源于哪一个或哪一类感知网元，从而确定对来自不同感知网元的待处理数据进行相应不同的处理，比如，对来自第三网元的第一待处理数据进行第一处理，进而协同第二网元完成逻辑处理，实现对应的车辆控制。
在一种可能的实施方式中，所述第一信息还用于指示所述第二网元；
所述向第二网元发送所述第一处理结果，包括：
根据所述第一信息，确定向所述第二网元发送所述第一处理结果。
在本申请实施例中，提供了一种第一信息的可能的具体实施方式，具体为，第一信息还用于指示第二网元，该情况下，第一信息可以包括第二网元的信息，比如第二网元的标识等信息，第一信息也可以包括第一处理结果从第一网元传输至第二网元的路径信息，从而可以根据该路径信息确定第二网元，进而根据该第一信息确定向第二网元发送第一处理结果。通过本申请实施例，可以根据第一信息确定对不同待处理数据进行处理得到的不同处理结果，应该给到哪一个或哪一类控制网元，进行相应不同的车辆控制，比如，针对第一待处理数据进行第一处理得到的第一处理结果，根据第一信息确定向第二网元发送第一处理结果，协同第二网元完成逻辑处理，使第二网元可以进行相应的车辆控制。
在一种可能的实施方式中，所述对所述第一待处理数据进行第一处理，包括：
根据第二信息对所述第一待处理数据进行所述第一处理；其中，所述第二信息包括所述第一待处理数据与所述第一处理的对应关系。
在本申请实施例中，提供了一种对第一待处理数据进行第一处理的可能的具体实施方式，具体为，根据第二信息对第一待处理数据进行第一处理，该第二信息包括第一待处理数据与第一处理的对应关系，比如，当第一待处理数据为来自摄像头的图像或视频数据时，与第一待处理数据对应的第一处理可以是图像或视频算法类的逻辑处理，当第一待处理数据为来自温度感知器的温度数据时，与第一待处理数据对应的第一处理可以是温度算法类的逻辑处理。通过本申请实施例，根据第一待处理数据与第一处理的对应关系，可以对第一待处理数据执行正确的逻辑处理，协同第二网元完成逻辑处理，解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性。
在一种可能的实施方式中，所述第二信息还包括所述第一处理的相关信息，所述第一处理的相关信息包括以下至少一项：
执行所述第一处理所需的处理逻辑信息，执行所述第一处理所需的参数信息，执行所述第一处理的配置信息。
在本申请实施例中，提供了一种第二信息的可能的具体实施方式，具体为，第二信息还包括与第一处理相关的信息，包括但不限于执行第一处理所需的处理逻辑信息，执行第一处理所需的参数信息，以及执行第一处理的配置信息。通过本申请实施例，可以根据配置信息，确定对第一待处理数据执行第一处理所需的处理逻辑信息，调用相应的处理逻辑信息进行第一处理，在进行第一处理时，会协同第一处理所需的参数信息进行相应的计算，协同第二网元完成逻辑处理，解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性。
在一种可能的实施方式中，所述第二信息根据以下至少一项方式得到：空中升级OTA，或者，预先配置，或者，所述第二网元。
在本申请实施例中，提供了一种获取第二信息的可能的具体实施方式，具体为，可以通 过空中升级OTA、预先配置、第二网元发送等多种方式获取第二信息。通过本申请实施例得到的第二信息，可以用于对第一待处理数据执行相应的第一处理，以协同第二网元完成逻辑处理，解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性。
在一种可能的实施方式中，所述第一信息根据以下至少一项方式得到：空中升级OTA，或者，预先配置，或者，具备通信编排功能的网元。
在本申请实施例中，提供了一种获取第一信息的可能的具体实施方式，具体为，可以通过空中升级OTA、预先配置、具备通信编排功能的网元发送等多种方式获取第一信息。通过本申请实施例得到的第一信息，可以用于确定对第一待处理数据进行相应的第一处理，以协同第二网元完成逻辑处理，解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性。
在一种可能的实施方式中，所述方法还包括：
所述第一网元发送第一能力信息，所述第一能力信息表征所述第一网元具备执行所述第一处理的能力。
在本申请实施例中，提供了一种发送第一能力信息的可能的具体实施方式，具体为，第一网元发送第一能力信息，该第一能力信息表征第一网元具备执行第一处理的能力。通过本申请实施例发送的第一能力信息，可以使第二网元知晓第一网元具备执行第一处理的能力，从而将第一处理的处理逻辑卸载到第一网元，利用第一网元协同第二网元完成逻辑处理，解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性。
在一种可能的实施方式中，所述第一能力信息包括执行所述第一处理所需的算力能力的信息。
在本申请实施例中，提供了一种第一能力信息的可能的具体实施方式，具体为，第一能力信息包括了执行第一处理所需的算力能力的信息。通过本申请实施例中的第一能力信息，可以使第二网元确认第一网元具备执行第一处理的能力，从而将第一处理的处理逻辑卸载到第一网元，利用第一网元协同第二网元完成逻辑处理。
在一种可能的实施方式中，所述第一能力信息通过以下至少一项方式发送：广播消息，或者，点对点发送。
在本申请实施例中，提供了一种发送第一能力信息的可能的具体实施方式，具体为，第一网元可以通过广播消息或点对点发送第一能力信息，相应的，第二网元可以通过广播消息或点对点接收第一能力信息。其中，第一网元可以将第一能力信息点对点发送给第二网元，相应的，第二网元接收第一网元发送的第一能力信息；第一网元也可以将第一能力信息点对点发送给空中升级OTA服务器，第二网元通过空中升级OTA得到该第一能力信息，并且，第一网元也可以通过空中升级OTA得到上述第一信息和/或第二信息，以确定对第一待处理数据进行相应的第一处理，协同第二网元完成逻辑处理。
在一种可能的实施方式中，所述第一处理在满足以下条件的情况下执行：所述第一网元具备执行所述第一处理的算力，且所述第二网元不具备执行所述第一处理的算力。
在本申请实施例中，提供了一种第一处理的可能的具体实施方式，具体为，第一处理需满足，第一网元具备执行该第一处理的算力，且第二网元不具备执行该第一处理的算力。通过本申请实施例，第二网元由于不具备执行第一处理的算力或能力，无法支持该第一处理对应的功能特性，而第一网元具备执行该第一处理的算力或能力，第二网元将第一处理对应的 处理逻辑卸载到第一网元，即第一网元对第一待处理数据进行第一处理，利用第一网元协同第二网元完成逻辑处理，可以解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持第一处理对应的功能特性，并且，还可以降低第一网元算力资源富余导致的资源浪费，提高第一网元的算力资源利用率。
在一种可能的实施方式中，所述第一网元包括微处理单元MPU和微控制单元MCU。
在本申请实施例中，提供了一种第一网元的可能的具体实施方式，具体为，第一网元为包括微处理单元MPU和微控制单元MCU的网元，即第一网元的算力资源富余，具备执行第一处理的算力；第一网元也可以为包括微控制单元MCU的网元，此时的第一网元包括的微控制单元MCU具备的算力资源较为富余，足以执行第一处理。通过本申请实施例中的第一网元，可以协同第二网元完成部分逻辑处理，解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持第一处理对应的功能特性，并且，还可以降低第一网元算力资源富余导致的资源浪费，提高第一网元的算力资源利用率。
第二方面，本申请实施例提供了一种协同控车方法，该方法包括：
第二网元接收第一网元发送的第一处理结果，所述第一处理结果包括所述第一网元对第一待处理数据进行第一处理得到的处理结果，所述第二网元为不执行所述第一处理的网元；
所述第二网元根据所述第一处理结果进行车辆控制。
在一种可能的实施方式中，所述第二网元根据所述第一处理结果进行车辆控制，包括：
所述第二网元根据融合结果进行车辆控制，其中，所述融合结果与所述第一处理结果和第二处理结果相关联，或者，所述融合结果与所述第一处理结果和第二待处理数据相关联，所述第二处理结果包括所述第二网元对所述第二待处理数据进行第二处理得到的处理结果。
本申请实施例中，提供了一种协同控车方法，第二网元接收第一网元发送的第一处理结果，该第一处理结果包括第一网元对第一待处理数据进行第一处理得到的结果，第一待处理数据可以是感知网元直接发送给第一网元的，也可以是感知网元发送给第二网元，由第二网元判断该第一待处理数据是否属于卸载到第一网元的处理逻辑部分，在判断该第一待处理数据属于卸载到第一网元的处理逻辑部分的情况下，第二网元再将该第一待处理数据发送给第一网元。第二网元可以根据接收到的第一处理结果进行车辆控制，也可以根据第一处理结果和其他处理结果进行融合得到的结果进行车辆控制，还可以根据第一处理结果和其他待处理数据进行融合得到的结果进行车辆控制，其中，第一网元包括具备执行该第一处理的能力以及通信能力的网元，比如可以是车载网关等，第二网元为不执行该第一处理的网元。
目前搭载第二网元的存量车，无法支持由于第二网元的芯片更新所提供的新的功能特性。与目前的控车方法相比，本申请实施例将部分处理逻辑从第二网元卸载到第一网元，即第一网元对第一待处理数据进行第一处理，利用第一网元协同第二网元完成逻辑处理，可以使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性，也能解决第二网元因算力资源不足等原因导致无法进行相应逻辑处理的技术缺陷，并且，还可以降低第一网元算力资源富余导致的资源浪费，提高第一网元的算力资源利用率。
在一种可能的实施方式中，所述第二网元还包括不具备执行所述第一处理的能力的网元。
在本申请实施例中，提供了一种第二网元的可能的具体实施方式，具体为，第二网元还包括不具备执行该第一处理的能力的网元，其中，不具备执行该第一处理的能力的网元，可以理解为是不执行该第一处理的网元的一种可能的情况。比如，第二网元可以是智能驾驶域控制器、智能座舱域控制器、整车域控制器等，由于第二网元的芯片更新或第二网元的算力 资源不足等原因导致第二网元不具备执行该第一处理的能力。通过本申请实施例，将部分处理逻辑从第二网元卸载到第一网元，利用第一网元协同第二网元完成逻辑处理，可以解决第二网元不具备执行第一处理的能力的问题，使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性。
在一种可能的实施方式中，对所述第一待处理数据进行所述第一处理与第一信息相关联，所述第一信息用于指示执行所述第一处理。
在本申请实施例中，提供了一种确定对第一待处理数据进行第一处理的可能的具体实施方式，具体为，可以由第一信息确定对第一待处理数据进行第一处理，该第一信息用于指示执行该第一处理。通过本申请实施例，可以根据第一信息确定应该对获取到的哪些待处理数据进行处理，从而可以根据第一信息确定对第一待处理数据进行第一处理，协同第二网元完成逻辑处理，可以解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性。
在一种可能的实施方式中，所述第一信息还用于指示允许所述第一网元执行所述第一处理。
在本申请实施例中，提供了一种第一信息的可能的具体实施方式，具体为，第一信息还用于指示允许第一网元执行第一处理，在该情况下，第一网元获取第一待处理数据后，可以向第二网元发送一个请求，用于请求对第一待处理数据执行第一处理，相应的，第二网元接收到该请求后，向第一网元发送第一信息，用于指示允许该第一网元执行第一处理。通过本申请实施例，第二网元将部分处理逻辑卸载到第一网元，利用第一网元富余的算力资源处理该部分处理逻辑，但依然保留了是否允许执行该部分处理逻辑的控制权，利用第一网元协同第二网元完成逻辑处理，进而实现对应的车辆控制。
在一种可能的实施方式中，所述第一信息还用于指示发送所述第一待处理数据的第三网元；对来自所述第三网元的所述第一待处理数据进行所述第一处理与所述第一信息相关联。
在本申请实施例中，提供了一种第一信息的可能的具体实施方式，具体为，第一信息还用于指示发送第一待处理数据的第三网元，第三网元可以是采集并发送待处理数据的感知网元，该情况下，第一信息可以包括发送第一待处理数据的第三网元的信息，比如第三网元的标识等信息，第一信息也可以包括第一待处理数据从第三网元传输至第一网元的路径信息，从而可以根据该路径信息确定第三网元。通过本申请实施例，可以根据第一信息确定第一待处理数据来源于哪一个或哪一类感知网元，从而确定对来自不同感知网元的待处理数据进行相应不同的处理，比如，对来自第三网元的第一待处理数据进行第一处理，进而协同第二网元完成逻辑处理，实现对应的车辆控制。
在一种可能的实施方式中，所述第一信息还用于指示所述第二网元；确定向所述第二网元发送所述第一处理结果与所述第一信息相关联。
在本申请实施例中，提供了一种第一信息的可能的具体实施方式，具体为，第一信息还用于指示第二网元，该情况下，第一信息可以包括第二网元的信息，比如第二网元的标识等信息，第一信息也可以包括第一处理结果从第一网元传输至第二网元的路径信息，从而可以根据该路径信息确定第二网元，进而根据该第一信息确定向第二网元发送第一处理结果，相应的，第二网元确定接收第一网元发送的第一处理结果。通过本申请实施例，可以根据第一信息确定对不同待处理数据进行处理得到的不同处理结果，应该给到哪一个或哪一类控制网元，进行相应不同的车辆控制，比如，针对第一待处理数据进行第一处理得到的第一处理结果，根据第一信息确定向第二网元发送第一处理结果，协同第二网元完成逻辑处理，使第二 网元可以进行相应的车辆控制。
在一种可能的实施方式中，对所述第一待处理数据进行所述第一处理与第二信息相关联；其中，所述第二信息包括所述第一待处理数据与所述第一处理的对应关系。
在本申请实施例中，提供了一种对第一待处理数据进行第一处理的可能的具体实施方式，具体为，根据第二信息对第一待处理数据进行第一处理，该第二信息包括第一待处理数据与第一处理的对应关系，比如，当第一待处理数据为来自摄像头的图像或视频数据时，与第一待处理数据对应的第一处理可以是图像或视频算法类的逻辑处理，当第一待处理数据为来自温度感知器的温度数据时，与第一待处理数据对应的第一处理可以是温度算法类的逻辑处理。通过本申请实施例，根据第一待处理数据与第一处理的对应关系，可以对第一待处理数据执行正确的逻辑处理，协同第二网元完成逻辑处理，解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性。
在一种可能的实施方式中，所述第二信息还包括所述第一处理的相关信息，所述第一处理的相关信息包括以下至少一项：
执行所述第一处理所需的处理逻辑信息，执行所述第一处理所需的参数信息，执行所述第一处理的配置信息。
在本申请实施例中，提供了一种第二信息的可能的具体实施方式，具体为，第二信息还包括与第一处理相关的信息，包括但不限于执行第一处理所需的处理逻辑信息，执行第一处理所需的参数信息，以及执行第一处理的配置信息。通过本申请实施例，可以根据配置信息，确定对第一待处理数据执行第一处理所需的处理逻辑信息，调用相应的处理逻辑信息进行第一处理，在进行第一处理时，会协同第一处理所需的参数信息进行相应的计算，协同第二网元完成逻辑处理，解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性。
在一种可能的实施方式中，所述第二信息根据以下至少一项方式得到：空中升级OTA，或者，预先配置，或者，所述第二网元。
在本申请实施例中，提供了一种获取第二信息的可能的具体实施方式，具体为，可以通过空中升级OTA、预先配置、第二网元发送等多种方式获取第二信息。通过本申请实施例得到的第二信息，可以用于对第一待处理数据执行相应的第一处理，以协同第二网元完成逻辑处理，解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性。
在一种可能的实施方式中，所述第一信息根据以下至少一项方式得到：空中升级OTA，或者，预先配置，或者，具备通信编排功能的网元。
在本申请实施例中，提供了一种获取第一信息的可能的具体实施方式，具体为，可以通过空中升级OTA、预先配置、具备通信编排功能的网元发送等多种方式获取第一信息。通过本申请实施例得到的第一信息，可以用于确定对第一待处理数据进行相应的第一处理，以协同第二网元完成逻辑处理，解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性。
在一种可能的实施方式中，所述方法还包括：
所述第二网元接收第一能力信息，所述第一能力信息表征所述第一网元具备执行所述第一处理的能力。
在本申请实施例中，提供了一种接收第一能力信息的可能的具体实施方式，具体为，第 二网元接收第一能力信息，该第一能力信息表征第一网元具备执行第一处理的能力。通过本申请实施例接收的第一能力信息，可以使第二网元知晓第一网元具备执行第一处理的能力，从而将第一处理的处理逻辑卸载到第一网元，利用第一网元协同第二网元完成逻辑处理，解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性。
在一种可能的实施方式中，所述第一能力信息包括执行所述第一处理所需的算力能力的信息。
在本申请实施例中，提供了一种第一能力信息的可能的具体实施方式，具体为，第一能力信息包括了执行第一处理所需的算力能力的信息。通过本申请实施例中的第一能力信息，可以使第二网元确认第一网元具备执行第一处理的能力，从而将第一处理的处理逻辑卸载到第一网元，利用第一网元协同第二网元完成逻辑处理。
在一种可能的实施方式中，所述第一能力信息通过以下至少一项方式接收：广播消息，或者，点对点接收。
在本申请实施例中，提供了一种接收第一能力信息的可能的具体实施方式，具体为，第一网元可以通过广播消息或点对点发送第一能力信息，相应的，第二网元可以通过广播消息或点对点接收第一能力信息。其中，第一网元可以将第一能力信息点对点发送给第二网元，相应的，第二网元接收第一网元发送的第一能力信息；第一网元也可以将第一能力信息点对点发送给空中升级OTA服务器，第二网元通过空中升级OTA得到该第一能力信息，并且，第一网元也可以通过空中升级OTA得到上述第一信息和/或第二信息，以确定对第一待处理数据进行相应的第一处理，协同第二网元完成逻辑处理。
在一种可能的实施方式中，所述第一处理在满足以下条件的情况下执行：所述第一网元具备执行所述第一处理的算力，且所述第二网元不具备执行所述第一处理的算力。
在本申请实施例中，提供了一种第一处理的可能的具体实施方式，具体为，第一处理需满足，第一网元具备执行该第一处理的算力，且第二网元不具备执行该第一处理的算力。通过本申请实施例，第二网元由于不具备执行第一处理的算力或能力，无法支持该第一处理对应的功能特性，而第一网元具备执行该第一处理的算力或能力，第二网元将第一处理对应的处理逻辑卸载到第一网元，即第一网元对第一待处理数据进行第一处理，利用第一网元协同第二网元完成逻辑处理，可以解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持第一处理对应的功能特性，并且，还可以降低第一网元算力资源富余导致的资源浪费，提高第一网元的算力资源利用率。
在一种可能的实施方式中，所述第一网元包括微处理单元MPU和微控制单元MCU。
在本申请实施例中，提供了一种第一网元的可能的具体实施方式，具体为，第一网元为包括微处理单元MPU和微控制单元MCU的网元，即第一网元的算力资源富余，具备执行第一处理的算力；第一网元也可以为包括微控制单元MCU的网元，此时的第一网元包括的微控制单元MCU具备的算力资源较为富余，足以执行第一处理。通过本申请实施例中的第一网元，可以协同第二网元完成部分逻辑处理，解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持第一处理对应的功能特性，并且，还可以降低第一网元算力资源富余导致的资源浪费，提高第一网元的算力资源利用率。
第三方面，本申请实施例提供了一种协同控车装置，该装置包括用于执行如第一方面或者如第二方面中任一项所述方法的模块或单元。
在一种可能的设计中，该装置包括：
处理单元，用于获取第一待处理数据；
所述处理单元，还用于对所述第一待处理数据进行第一处理，得到第一处理结果；
收发单元，用于向第二网元发送所述第一处理结果，所述第一处理结果用于所述第二网元进行车辆控制，其中，所述第二网元为不执行所述第一处理的网元；
或者，所述处理单元，还用于根据所述第一处理结果进行车辆控制，所述协同控车装置包括车载网关。
在一种可能的实施方式中，所述第二网元还包括不具备执行所述第一处理的能力的网元。
在一种可能的实施方式中，所述处理单元，还用于在对所述第一待处理数据进行第一处理之前，根据第一信息，确定对所述第一待处理数据进行所述第一处理；其中，所述第一信息用于指示执行所述第一处理。
在一种可能的实施方式中，所述第一信息还用于指示允许所述协同控车装置执行所述第一处理。
在一种可能的实施方式中，所述第一信息还用于指示发送所述第一待处理数据的第三网元；
所述处理单元，还用于确定对来自所述第三网元的所述第一待处理数据进行所述第一处理。
在一种可能的实施方式中，所述第一信息还用于指示所述第二网元；
所述处理单元，还用于根据所述第一信息，确定向所述第二网元发送所述第一处理结果。
在一种可能的实施方式中，所述处理单元，具体用于根据第二信息对所述第一待处理数据进行所述第一处理；其中，所述第二信息包括所述第一待处理数据与所述第一处理的对应关系。
在一种可能的实施方式中，所述第二信息还包括所述第一处理的相关信息，所述第一处理的相关信息包括以下至少一项：
执行所述第一处理所需的处理逻辑信息，执行所述第一处理所需的参数信息，执行所述第一处理的配置信息。
在一种可能的实施方式中，所述第二信息根据以下至少一项方式得到：空中升级OTA，或者，预先配置，或者，所述第二网元。
在一种可能的实施方式中，所述第一信息根据以下至少一项方式得到：空中升级OTA，或者，预先配置，或者，具备通信编排功能的网元。
在一种可能的实施方式中，所述收发单元，还用于发送第一能力信息，所述第一能力信息表征所述协同控车装置具备执行所述第一处理的能力。
在一种可能的实施方式中，所述第一能力信息包括执行所述第一处理所需的算力能力的信息。
在一种可能的实施方式中，所述第一能力信息通过以下至少一项方式发送：广播消息，或者，点对点发送。
在一种可能的实施方式中，所述第一处理在满足以下条件的情况下执行：所述协同控车装置具备执行所述第一处理的算力，且所述第二网元不具备执行所述第一处理的算力。
在一种可能的实施方式中，所述协同控车装置包括微处理单元MPU和微控制单元MCU。
关于第三方面以及任一项可能的实施方式所带来的技术效果，可参考对应于第一方面以及相应的实施方式的技术效果的介绍。
在另一种可能的设计中，该装置包括：
收发单元，用于接收第一网元发送的第一处理结果，所述第一处理结果包括所述第一网元对第一待处理数据进行第一处理得到的处理结果，所述协同控车装置包括不执行所述第一处理的装置；
处理单元，用于根据所述第一处理结果进行车辆控制。
在一种可能的实施方式中，所述处理单元，还用于根据融合结果进行车辆控制，其中，所述融合结果与所述第一处理结果和第二处理结果相关联，或者，所述融合结果与所述第一处理结果和第二待处理数据相关联，所述第二处理结果包括所述协同控车装置对所述第二待处理数据进行第二处理得到的处理结果。
在一种可能的实施方式中，所述协同控车装置还包括不具备执行所述第一处理的能力的网元。
在一种可能的实施方式中，对所述第一待处理数据进行所述第一处理与第一信息相关联，所述第一信息用于指示执行所述第一处理。
在一种可能的实施方式中，所述第一信息还用于指示允许所述第一网元执行所述第一处理。
在一种可能的实施方式中，所述第一信息还用于指示发送所述第一待处理数据的第三网元；对来自所述第三网元的所述第一待处理数据进行所述第一处理与所述第一信息相关联。
在一种可能的实施方式中，所述第一信息还用于指示所述协同控车装置；确定向所述协同控车装置发送所述第一处理结果与所述第一信息相关联。
在一种可能的实施方式中，对所述第一待处理数据进行所述第一处理与第二信息相关联；其中，所述第二信息包括所述第一待处理数据与所述第一处理的对应关系。
在一种可能的实施方式中，所述第二信息还包括所述第一处理的相关信息，所述第一处理的相关信息包括以下至少一项：
执行所述第一处理所需的处理逻辑信息，执行所述第一处理所需的参数信息，执行所述第一处理的配置信息。
在一种可能的实施方式中，所述第二信息根据以下至少一项方式得到：空中升级OTA，或者，预先配置，或者，所述协同控车装置。
在一种可能的实施方式中，所述第一信息根据以下至少一项方式得到：空中升级OTA，或者，预先配置，或者，具备通信编排功能的网元。
在一种可能的实施方式中，所述收发单元，还用于接收第一能力信息，所述第一能力信息表征所述第一网元具备执行所述第一处理的能力。
在一种可能的实施方式中，所述第一能力信息包括执行所述第一处理所需的算力能力的信息。
在一种可能的实施方式中，所述第一能力信息通过以下至少一项方式接收：广播消息，或者，点对点接收。
在一种可能的实施方式中，所述第一处理在满足以下条件的情况下执行：所述第一网元具备执行所述第一处理的算力，且所述协同控车装置不具备执行所述第一处理的算力。
在一种可能的实施方式中，所述第一网元包括微处理单元MPU和微控制单元MCU。
关于第三方面以及任一项可能的实施方式所带来的技术效果，可参考对应于第二方面以及相应的实施方式的技术效果的介绍。
第四方面，本申请实施例提供了一种电子设备，该电子设备包括处理器。该处理器与存 储器耦合，可用于执行存储器中的指令，以实现上述第一方面至第二方面任一方面以及任一项可能的实施方式的方法。可选地，该电子设备还包括存储器。可选地，该电子设备还包括通信接口，处理器与通信接口耦合。
第五方面，本申请实施例提供了一种计算机可读存储介质，所述计算机可读存储介质用于存储计算机程序(也可以称为代码，或指令)；当所述计算机程序在计算机上运行时，使得上述第一方面至第二方面任一方面以及任一项可能的实施方式的方法被实现。
第六方面，本申请实施例提供了一种计算机程序产品，所述计算机程序产品包括：计算机程序(也可以称为代码，或指令)；当所述计算机程序被运行时，使得计算机执行上述第一方面至第二方面任一方面以及任一项可能的实施方式的方法。
第七方面，本申请实施例提供一种芯片，该芯片包括处理器，所述处理器用于执行指令，当该处理器执行所述指令时，使得该芯片执行上述第一方面至第二方面任一方面以及任一项可能的实施方式的方法。可选的，该芯片还包括通信接口，所述通信接口用于接收信号或发送信号。
第八方面，本申请实施例提供一种车端，所述车端包括至少一个如第三方面所述的协同控车装置，或第四方面所述的电子设备，或第七方面所述的芯片。
第九方面，本申请实施例提供一种系统，所述系统包括车端以及至少一个如第三方面所述的协同控车装置，或第四方面所述的电子设备，或第七方面所述的芯片。
此外，在执行上述第一方面以及任一项可能的实施方式所述的方法，或第二方面以及任一项可能的实施方式所述的方法的过程中，上述方法中有关发送信息和/或接收信息等的过程，可以理解为由处理器输出信息的过程，和/或，处理器接收输入的信息的过程。在输出信息时，处理器可以将信息输出给收发器(或者通信接口、或发送模块)，以便由收发器进行发射。信息在由处理器输出之后，还可能需要进行其他的处理，然后才到达收发器。类似的，处理器接收输入的信息时，收发器(或者通信接口、或发送模块)接收信息，并将其输入处理器。更进一步的，在收发器收到该信息之后，该信息可能需要进行其他的处理，然后才输入处理器。
基于上述原理，举例来说，前述方法中提及的发送信息可以理解为处理器输出信息。又例如，接收信息可以理解为处理器接收输入的信息。
可选的，对于处理器所涉及的发射、发送和接收等操作，如果没有特殊说明，或者，如果未与其在相关描述中的实际作用或者内在逻辑相抵触，则均可以更加一般性的理解为处理器输出和接收、输入等操作。
可选的，在执行上述第一方面以及任一项可能的实施方式所述的方法，或第二方面以及任一项可能的实施方式所述的方法的过程中，上述处理器可以是专门用于执行这些方法的处理器，也可以是通过执行存储器中的计算机指令来执行这些方法的处理器，例如通用处理器。上述存储器可以为非瞬时性(non-transitory)存储器，例如只读存储器(read only memory，ROM)，其可以与处理器集成在同一块芯片上，也可以分别设置在不同的芯片上，本申请实施例对存储器的类型以及存储器与处理器的设置方式不做限定。
在一种可能的实施方式中，上述至少一个存储器位于装置之外。
在又一种可能的实施方式中，上述至少一个存储器位于装置之内。
在又一种可能的实施方式之中，上述至少一个存储器的部分存储器位于装置之内，另一部分存储器位于装置之外。
本申请中，处理器和存储器还可能集成于一个器件中，即处理器和存储器还可以被集成 在一起。
本申请实施例中，将部分处理逻辑从第二网元卸载到第一网元，利用第一网元协同第二网元完成逻辑处理，可以解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对本申请实施例中所需要使用的附图作简单地介绍，显而易见地，下面所描述的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1A为本申请实施例提供的一种控车系统的架构示意图；
图1B为本申请实施例提供的另一种控车系统的架构示意图；
图2为本申请实施例提供的一种协同控车系统的架构示意图；
图3为本申请实施例提供的另一种协同控车系统的架构示意图；
图4为本申请实施例提供的一种协同控车方法的流程示意图；
图5为本申请实施例提供的另一种协同控车方法的流程示意图；
图6为本申请实施例提供的一种通信路由的示意图；
图7为本申请实施例提供的一种空中升级OTA的示意图；
图8为本申请实施例提供的又一种协同控车方法的流程示意图；
图9为本申请实施例提供的一种协同控车装置的结构示意图；
图10为本申请实施例提供的一种电子设备的结构示意图；
图11为本申请实施例提供的一种芯片的结构示意图。
具体实施方式
为了使本申请的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图对本申请实施例进行描述。
本申请的说明书、权利要求书及附图中的术语“第一”和“第二”等是用于区别不同对象，而不是用于描述特定顺序。此外，术语“包括”和“具有”以及它们的任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备等，没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元等，或可选地还包括对于这些过程、方法、产品或设备等固有的其它步骤或单元。
在本文中提及的“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员可以显式地和隐式地理解的是，在本申请的各个实施例中，如果没有特殊说明以及逻辑冲突，各个实施例之间的术语和/或描述具有一致性、且可以相互引用，不同的实施例中的技术特征根据其内在的逻辑关系可以组合形成新的实施例。
应当理解，在本申请中，“至少一个(项)”是指一个或者多个，“多个”是指两个或两个以上，“至少两个(项)”是指两个或三个及三个以上，“和/或”，用于描述关联对象的关联关系，表示可以存在三种关系，例如，“A和/或B”可以表示：只存在A，只存在B以及同时存在A和B三种情况，其中A，B可以是单数或者复数。字符“/”一般表示前后关联对象是一 种“或”的关系。“以下至少一项(个)”或其类似表达，是指这些项中的任意组合，包括单项(个)或复数项(个)的任意组合。例如，a，b或c中的至少一项(个)，可以表示：a，b，c，“a和b”，“a和c”，“b和c”，或“a和b和c”，其中a，b，c可以是单个，也可以是多个。
本申请提供了一种协同控车方法，为了更清楚地描述本申请的方案，下面先介绍一些与车辆控制相关的知识。
目前的车辆控制是按照功能划分为动力域、底盘域、座舱域、自动驾驶域和车身域五大区域，每个区域对应推出相应的域控制器，最后再通过控制器局域网络(controller area network，CAN)或局域互联网络(local interconnect network，LIN)等通信方式连接至主干线甚至托管至云端，从而实现整车信息数据的交互。
智能驾驶域控制器：智能驾驶汽车中，包含四个核心子系统：传感器、计算平台、执行器与应用算法，智能驾驶域控制器定位为计算平台，是实现智能驾驶全景感知、地图和传感器融合定位、决策、规划、控制等功能的汽车“大脑”，适用于乘用车(如拥堵跟车、高速巡航、自动代客泊车)、商用车(如港口货运、干线物流)与作业车(如矿卡、清洁车、无人配送)等多种应用场景。
智能座舱域控制器：智能座舱域控制器需要具备卓越的处理性能，以支持座舱域的应用，如语音识别、手势识别等；提供优秀的显示性能支持，同时支持虚拟化技术，支持一芯多屏显示，满足各种尺寸的仪表屏及中控屏幕的显示需求，并将不同安全级别的应用进行隔离，同时提供对外对内的通信能力，提供稳定、高速的通信网络以轻松应对各种高带宽应用的网络要求。
整车域控制器：随着整车发展，车身控制器越来越多，为了降低控制器成本，降低整车重量，集成化需要把所有的功能器件，从车头的部分、车中间的部分和车尾部的部分，如后刹车灯、后位置灯、尾门锁、甚至双撑杆，统一连接到一个总的控制器里面。整车域控制器从分散化的功能组合，逐渐过渡到集成所有车身电子的基础驱动、钥匙功能、车灯、车门、车窗等的大控制器。
动力域控制器：是一种智能化的动力总成管理单元，借助CAN等通信方式实现变速器管理，管理电池监控交流发电机调节。其优势在于为多种动力系统单元(如内燃机、电动机/发电机、电池、变速箱等)计算和分配扭矩，通过预判驾驶策略实现二氧化碳减排。
底盘域控制器：底盘域与车辆行驶相关，由传动系统、行驶系统、转向系统和制动系统共同构成。随着汽车智能化发展，智能汽车的感知识别、决策规划、控制执行三个核心系统中，控制执行端主要包括驱动控制、转向控制、制动控制等，需要对传统汽车的底盘进行线控改造以适用于自动驾驶。
车载网关：作为车辆网络系统的核心控制装置，车载网关负责协调不同结构和特征的CAN总线网络及其他数据网络之间的协议转换、数据交换、故障诊断等工作。车载网关在采集不同体系结构或协议的网络之间进行互通时，用于提供协议转换、数据交换等网络兼容功能，车载网关可以理解为是网络之间的连接器、协议的转换器、数据的翻译器。车载网关既可以用于广域互联，也可以用于局域互联，充当着转换重任的计算机系统或者设备，在使用不同协议、数据或者语言，甚至两种体系结构完全不同的两个系统之间进行转换。
空中升级(over-the-air，OTA)：是一项基于短消息机制，通过终端或服务器(网上)方式实现用户身份识别(subscriber identification module，SIM)卡内业务菜单的动态下载、删除与更新，使用户获取个性化信息服务的数据增值业务(简称OTA业务)，是通过移动 通信的空中接口对SIM卡数据及应用进行远程管理的技术。OTA技术的应用，使得移动通信不仅可以提供语音和数据服务，而且还能提供新业务下载。
下面结合本申请实施例中的附图对本申请实施例进行描述。
请参阅图1A，图1A为本申请实施例提供的一种控车系统的架构示意图。
如图1A所示，该控车系统主要包括雷达、摄像头等感知器，智能驾驶系统，底盘域，动力域，雨刮、车灯等车身器件，以及多个车载网关。
其中，智能驾驶系统通过接入雷达、摄像头等感知器获取待处理数据，然后对该待处理数据进行本地计算，得到计算结果，并根据计算结果进行决策，从而对底盘域和动力域进行相应的控制，智能驾驶系统也可以通过车载网关将决策指令传输给雨刮、车灯等车身器件，从而对雨刮、车灯等车身器件进行相应的控制。
一般的，车载网关搭载的处理器为性能较低的微控制单元(micro controller unit，MCU)，由于车载网关的算力限制，其主要实现数据转发、故障诊断等传统功能，比如，外部诊断仪可以通过车载网关对智能驾驶系统的域控制器进行诊断。
随着智能驾驶技术的发展，车载网关的芯片性能也在不断提升，存在同时搭载了微处理单元(microprocessor unit，MPU)和MCU的智能网关，这类网关的接口比较丰富，能够支持雷达、摄像头等感知器就近接入网关，而不需要连接到智能驾驶系统的域控制器。
具体可参阅图1B，图1B为本申请实施例提供的另一种控车系统的架构示意图。
如图1B所示，该控车系统主要包括雷达、摄像头等感知器，智能驾驶系统，底盘域，动力域，雨刮、车灯等车身器件，以及多个车载网关。
其中，各个器件的连接关系与上述图1A的连接关系类似，此处不再赘述。与上述图1A不同的是，本控车系统中的车载网关1为同时搭载了MPU和MCU的智能网关，能够支持雷达、摄像头等感知器就近接入该车载网关，而不需要连接到智能驾驶系统的域控制器。相应的，智能驾驶系统无需接入种类繁多的感知器，只需通过接入各个车载网关就能获取待处理数据，然后对该待处理数据进行本地计算，得到计算结果，并根据计算结果进行决策，从而对底盘域和动力域进行相应的控制，智能驾驶系统也可以通过车载网关将决策指令传输给雨刮、车灯等车身器件，从而对雨刮、车灯等车身器件进行相应的控制。应理解，本控车系统中的车载网关也可以只搭载MCU，不应以此对本申请构成限制，由于搭载的MCU性能较强，同样能够支持雷达、摄像头等感知器就近接入该车载网关。
应当理解的是，上述图1A和图1B所示的控车系统的模块/架构是基于逻辑功能划分的，在实际应用中，一个模块的功能也可以由多个模块来实现，或者多个模块的功能由一个模块实现，本申请实施例所示的控车系统仅作为一种可能的架构实施方式，不应以此对本申请构成限定。
然而，无论是上述同时搭载了MPU和MCU的车载网关，还是上述只搭载了性能较强的MCU的车载网关，其主要实现的还是数据转发、故障诊断等传统功能，这类传统业务无法消耗由于车载网关芯片性能提升带来的算力资源，网关因算力资源富余导致了大量的资源浪费，算力资源利用率较低。
并且，雷达、摄像头等感知器可配置为将原始数据直接传送给智能驾驶系统进行处理，也可配置为将原始数据经过本地处理单元处理后，将处理结果传送给智能驾驶系统处理。由于智能驾驶系统上的芯片算力一般较强，在一些场景下需要感知器采集的原始数据，此时车载网关对大量原始数据的转发业务，会占用较多的链路资源，严重时可能导致通信受阻。
此外，随着智能驾驶技术的发展，智能驾驶域控制器的芯片性能也在不断提升，芯片算 力的提升带来了智能驾驶系统上决策系统的进化。比如，随着智能驾驶系统的芯片更新迭代，芯片算力的提升带来的智能驾驶系统决策性能的提升，为驾驶者提供了新的功能特性。但是，针对使用旧芯片的智能驾驶系统的存量车，无法支持芯片更新所提供的新的功能特性。
针对上述控车方法中存在的算力资源利用率低、链路资源消耗大、使用旧芯片的智能驾驶系统的存量车无法支持芯片更新所提供的新的功能特性的技术问题，本申请提供了一种新的协同控车架构，并基于该架构相应提出了一种新的协同控车方法，将部分处理逻辑从第二网元卸载到第一网元，利用第一网元协同第二网元完成逻辑处理，可以解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性；并且，还可以降低第一网元因算力资源富余导致的大量资源浪费，提高算力资源利用率；还可以减少链路资源的消耗，保障通信顺畅。
应理解，本申请所提及的网元(net element，NE)，例如上述第一网元、第二网元等，可以简单理解为网络中的元素，是网络管理中可以监视和管理的最小单位。网元可以是由一个或多个机盘或机框组成，能够独立完成一定的传输功能的集合。
请参阅图2，图2为本申请实施例提供的一种协同控车系统的架构示意图。
如图2所示，本协同控车系统给出了车载网关和智能驾驶系统以及周边车身控制/动力/底盘部件、摄像头/雷达等感知器的连接关系。
其中，车载网关包括车身控制模块和智能驾驶协同系统，摄像头、雷达等感知器与车载网关中的智能驾驶协同系统连接，雨刮、车灯、车窗等车身器件与车载网关中的车身控制模块连接，车载网关中的智能驾驶协同系统还与智能驾驶系统的域控制器连接。
基于上述协同控车系统的连接关系，智能驾驶系统可以将部分处理逻辑卸载到车载网关侧，由车载网关中的智能驾驶协同系统执行。具体的，将哪一类的处理逻辑卸载到车载网关侧，可以由智能驾驶系统根据车载网关的算力情况决定。
示例性的，毫米波雷达信号的快速傅里叶变换(fast fourier transform，FFT)特征处理、支持向量机(support vector machine，SVM)分类处理等对算力要求不高的处理逻辑，可以卸载到车载网关侧，由车载网关中的智能驾驶协同系统执行。
示例性的，使用深度学习对图像进行卷积计算后加以分类等对算力要求较高的处理逻辑，可以等车载网关的算力进一步提升后再卸载到车载网关侧执行。
车载网关在接收到需要在其上执行的处理逻辑时，车载网关中的智能驾驶协同系统执行该处理逻辑后，得到处理结果。具体的，执行处理逻辑得到的结果该如何处理，可以由智能驾驶系统根据车内网情况决定。
示例性的，车载网关根据处理结果自行对车身相关部件进行控制，比如，车载网关根据处理结果控制雨刮、车灯、车窗等车身设备。
示例性的，车载网关将处理结果发送给智能驾驶系统，由智能驾驶系统根据处理结果进行下一步的控车操作，比如，智能驾驶系统根据车载网关侧得到的处理结果对动力域或底盘域等域控制器加以控制，或者，智能驾驶系统根据车载网关侧得到的处理结果以及其他待处理数据或其他处理结果进行协同计算，再根据协同计算得到的结果对动力域或底盘域等域控制器进行控制。
请参阅图3，图3为本申请实施例提供的另一种协同控车系统的架构示意图。
如图3所示，本协同控车系统给出了车载网关的内部结构，以及车载网关和智能驾驶系统、摄像头/雷达等感知器、编排器/诊断仪等车身周边部件的连接关系。
其中，编排器、诊断仪为车外设备，通过CAN口或者以太口等通信方式和车载网关相连， 智能驾驶系统部署在车内域控制器上，通过CAN口或者以太口等通信方式和车载网关相连，雷达、摄像头等感知器部署在车身上，通过CAN口或者以太口等通信方式和车载网关相连。
车载网关主要包括通信路由模块和智能驾驶协同系统，智能驾驶协同系统主要包括升级管理模块、调度管理模块以及用于存储高级驾驶辅助系统(advanced driver assistance system，ADAS)相关信息的数据存储模块。
通信路由模块用于获取并存储通信路由表，当需要车载网关进行智能驾驶协同控车时，需要将感知器采集到的待处理数据上传至车载网关，由车载网关对该待处理数据进行处理，而后再将处理结果传输至智能驾驶系统，因此需要进行通信路由的变更，将“待处理数据从感知器传输至智能驾驶系统”的传输路径变更为“待处理数据从感知器传输至车载网关，再从车载网关传输至智能驾驶系统”。
可选的，在车载网关接收到来自感知器采集的待处理数据，并对该待处理数据进行处理得到处理结果之后，车载网关还可以根据该处理结果自行对车身相关部件进行控制，而无需再将处理结果传输至智能驾驶系统，因此需要进行通信路由的变更，将“待处理数据从感知器传输至智能驾驶系统”的传输路径变更为“待处理数据从感知器传输至车载网关”。
智能驾驶协同系统主要用于在需要车载网关进行智能驾驶协同控车时，对获取到的待处理数据进行协同处理。在协同处理的过程中，还需要从存储ADAS相关信息的数据存储模块中获取ADAS相关信息。其中，ADAS相关信息包括但不限于对待处理数据进行处理所需的处理逻辑信息，对待处理数据进行处理所需的参数信息，以及对待处理数据进行处理所需的配置信息。
示例性的，对待处理数据进行处理所需的处理逻辑信息可以是机器学习的K均值聚类算法，需要获取相关的逻辑代码进行训练或者推理，也需要对应的超参描述模型；对待处理数据进行处理所需的参数信息可以是k值(中心点数目)、中心点坐标等，逻辑代码可以是单个函数，也可以是若干个函数的集合；此外，还需要对待处理数据进行处理所需的配置信息用于协同处理，比如采集待处理数据的感知器和处理逻辑的对应关系。
应理解，上述ADAS相关信息可以以多种形式存储在智能驾驶协同系统中，比如可以是一个so文件的形式在智能驾驶协同系统初始化的时候加载进系统，也可以是在智能驾驶协同系统OTA升级的时候加载进系统，以便进行后续的调度管理，本申请实施例对此不作限制。
上述对获取到的待处理数据进行协同处理，具体可以是由智能驾驶协同系统中的调度管理模块执行。调度管理模块判断待处理数据来自哪个感知器，然后根据ADAS相关信息中的配置信息，确定与该感知器对应的处理逻辑信息，并从ADAS相关信息中调用与该感知器对应的处理逻辑信息进行处理，在处理过程中会协同ADAS相关信息中的参数信息进行计算。
智能驾驶协同系统中的升级管理模块用于对智能驾驶协同系统中的通信路由信息和ADAS相关信息进行升级更新。当准备好需要卸载到车载网关的处理逻辑及相关信息，以及新的通信路由信息之后，诊断仪或者智能驾驶系统发起升级请求，升级管理模块能够对通信路由信息和ADAS相关信息等相关区域进行刷新，完成协同处理逻辑的升级。
应理解，上述升级管理模块执行的升级处理和上述调度管理模块执行的调度处理，可以是具有先后顺序的单线程处理关系，也可以是不分先后的多线程并行处理关系，本申请实施例对此不作限制。
应当理解的是，上述图2和图3所示的协同控车系统的内部模块是基于逻辑功能划分的，在实际应用中，一个模块的功能也可以由多个模块来实现，或者多个模块的功能由一个模块实现。本申请实施例所示的协同控车系统仅作为一种可能的架构实施方式，不应以此对本申 请构成限定。
相应的，本申请基于上述协同控车系统的架构提出了新的协同控车方法，下面将结合图4至图8对本申请提供的协同控车方法进行详细说明。
请参阅图4，图4为本申请实施例提供的一种协同控车方法的流程示意图。该协同控车方法应用于智能驾驶技术领域，该协同控车方法包括但不限于如下步骤：
S401：获取第一待处理数据。
第一网元获取第一待处理数据。
其中，本申请实施例中的第一网元为搭载了可用于执行计算机执行指令的处理器的网元/设备，可以是终端设备(如车载终端)等，具体可以是上述图2和图3所示的协同控车系统中的车载网关，或是具备该车载网关的功能的其他部件，或是集成了上述图2和图3所示的智能驾驶协同系统的网元/设备，用于执行本申请实施例中的协同控车方法，将部分处理逻辑从第二网元卸载到第一网元，利用第一网元协同第二网元完成逻辑处理，以解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性。
本申请实施例中获取第一待处理数据，可以是感知网元直接将采集到的第一待处理数据发送给第一网元，也可以是感知网元将采集到的第一待处理数据发送给第二网元，第二网元在判断该第一待处理数据属于卸载到第一网元的处理逻辑部分的情况下，将该第一待处理数据发给第一网元，本申请对此不构成限定。
其中，本申请实施例中的第二网元为搭载了可用于执行计算机执行指令的处理器的网元/设备，可以是终端设备(如车载终端)等，具体可以是上述图2和图3所示的协同控车系统中的智能驾驶系统，或是集成了上述图2和图3所示的智能驾驶协同系统的网元/设备，如智能驾驶域控制器，还可以是智能座舱域控制器、整车域控制器等，用于执行本申请实施例中的协同控车方法，将部分处理逻辑从第二网元卸载到第一网元，利用第一网元协同第二网元完成逻辑处理，以解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性。
本申请实施例中的感知网元为搭载了可用于执行计算机执行指令的处理器的网元/设备，可以是雷达、摄像头等用于采集感知数据的车载设备。
S402：对第一待处理数据进行第一处理，得到第一处理结果。
第一网元对第一待处理数据进行第一处理，得到第一处理结果，其中，第一处理结果用于进行车辆控制。
在一种可能的实施例中，第一网元根据第二信息对第一待处理数据进行第一处理，得到第一处理结果。
其中，第二信息包括第一待处理数据与第一处理的对应关系。
示例性的，当第一待处理数据为来自摄像头的图像或视频数据时，与第一待处理数据对应的第一处理可以是图像或视频算法类的逻辑处理；当第一待处理数据为来自温度感知器的温度数据时，与第一待处理数据对应的第一处理可以是温度算法类的逻辑处理。
通过本申请实施例，根据第一待处理数据与第一处理的对应关系，可以对第一待处理数据执行正确的逻辑处理，协同第二网元完成逻辑处理，解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性。
可选的，第二信息还包括与第一处理的相关信息。
其中，该相关信息包括但不限于以下至少一项：执行第一处理所需的处理逻辑信息，执行第一处理所需的参数信息，以及执行第一处理的配置信息。
通过本申请实施例，可以根据配置信息，确定对第一待处理数据执行第一处理所需的处理逻辑信息，然后调用相应的处理逻辑信息进行第一处理。在进行第一处理时，会协同第一处理所需的参数信息进行相应的计算，协同第二网元完成逻辑处理，解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性。
可选的，可以通过以下任一项方式获取第二信息：
方式一，第一网元通过空中升级OTA周期性的更新第二信息；
方式二，第一网元预先配置第二信息；
方式三，第一网元接收第二网元发送的第二信息。
在一种可能的实施例中，在对第一待处理数据进行第一处理之前，还提供了一种确定对第一待处理数据进行第一处理的方法。
具体为，根据第一信息，确定对第一待处理数据进行第一处理，其中，该第一信息用于指示执行该第一处理。
通过本申请实施例，第一网元可以根据第一信息，确定应该对获取到的哪些待处理数据进行处理，从而可以根据第一信息，确定对第一待处理数据进行第一处理，协同第二网元完成逻辑处理，可以解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性。
可选的，该第一信息还用于指示允许第一网元执行第一处理。
在上述情况下，第一网元获取第一待处理数据后，可以向第二网元发送一个请求，用于请求对第一待处理数据执行第一处理。相应的，第二网元接收到该请求后，向第一网元发送第一信息，用于指示允许该第一网元执行第一处理。
通过本申请实施例，第二网元将部分处理逻辑卸载到第一网元，利用第一网元富余的算力资源处理该部分处理逻辑，但依然保留了是否允许执行该部分处理逻辑的控制权，利用第一网元协同第二网元完成逻辑处理，进而实现对应的车辆控制。
可选的，该第一信息还用于指示发送第一待处理数据的第三网元。
其中，第三网元为采集并发送第一待处理数据的感知网元，例如，可以是雷达、摄像头等用于采集感知数据的车载设备。第一信息可以包括发送第一待处理数据的第三网元的信息，比如第三网元的标识、第三网元的地址等信息。第一信息也可以包括第一待处理数据从第三网元传输至第一网元的路径信息，从而可以根据该路径信息确定第三网元。
可以理解的是，用于指示发送第一待处理数据的第三网元的信息，不一定只能是第一信息，还可以是其他信息，比如第三信息、第四信息等等，本申请实施例对此不作限制。
通过本申请实施例，可以根据第一信息确定第一待处理数据来源于哪一个或哪一类感知网元，从而确定对来自不同感知网元的待处理数据进行相应不同的处理。比如，对来自雷达的第一待处理数据进行第一处理，对来自摄像头的第二待处理数据进行第二处理，等等，进而协同第二网元完成逻辑处理，实现对应的车辆控制。
可选的，该第一信息还用于指示第二网元。
其中，第一信息可以包括第二网元的信息，比如第二网元的标识、第二网元的地址等信息。第一信息也可以包括第一处理结果从第一网元传输至第二网元的路径信息，从而可以根据该路径信息确定第二网元，进而根据该第一信息确定向第二网元发送第一处理结果。
可以理解的是，用于指示第二网元的信息，不一定只能是第一信息，还可以是其他信息，比如第三信息、第四信息等等，本申请实施例对此不作限制。
还可以理解的是，用于指示第二网元的信息，与上述用于指示发送第一待处理数据的第三网元的信息，可以是同一个信息，也可以是分别指示的两个不同信息，本申请实施例对此不作限制。
通过本申请实施例，可以根据第一信息确定对不同待处理数据进行处理得到的不同处理结果，应该给到哪一个或哪一类控制网元，进行相应不同的车辆控制。比如，针对第一待处理数据进行第一处理得到的第一处理结果，根据第一信息确定向第二网元发送第一处理结果，协同第二网元完成逻辑处理，使第二网元可以进行相应的车辆控制。
可选的，可以通过以下任一项方式获取第一信息：
方式一，第一网元通过空中升级OTA周期性的更新第一信息；
方式二，第一网元预先配置第一信息；
方式三，第一网元接收具备通信编排功能的网元发送的第一信息。
在一种可能的实施例中，第一网元还往外发送第一能力信息。
其中，该第一能力信息用于表征第一网元具备执行第一处理的能力。
通过本申请实施例发送的第一能力信息，可以使第二网元知晓第一网元具备执行第一处理的能力，从而将第一处理的处理逻辑卸载到第一网元，利用第一网元协同第二网元完成逻辑处理，解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性。
可选的，第一能力信息包括执行第一处理所需的算力能力的信息。
通过本申请实施例中的第一能力信息，可以使第二网元确认第一网元具备执行第一处理的能力，从而将第一处理的处理逻辑卸载到第一网元，利用第一网元协同第二网元完成逻辑处理。
可选的，可以通过以下任一项方式发送第一能力信息：
方式一，第一网元可以通过广播消息发送第一能力信息，相应的，第二网元通过接收广播消息得到第一能力信息。
方式二，第一网元可以将第一能力信息点对点发送给第二网元，相应的，第二网元点对点接收第一网元发送的第一能力信息。
方式三，第一网元也可以将第一能力信息点对点发送给空中升级OTA服务器，第二网元通过空中升级OTA技术得到该第一能力信息。
可选的，第一网元还可以通过空中升级OTA技术得到上述第一信息和/或第二信息。
具体的，由OTA服务器将上述第一信息和第二信息合录到升级包中，第一网元再通过OTA技术从OTA服务器中获取升级包，对第一信息和第二信息进行更新升级，以根据更新后的第一信息和第二信息确定对第一待处理数据进行相应的第一处理，协同第二网元完成逻辑处理。
在一种可能的实施例中，本申请实施例中的第一处理需在满足以下条件的情况下执行：第一网元具备执行第一处理的算力，且第二网元不具备执行第一处理的算力。
示例性的，毫米波雷达信号的FFT特征处理、SVM分类处理等对算力要求不高的处理逻辑，可以卸载到第一网元，由第一网元执行相应处理，协同第二网元完成逻辑处理。
示例性的，使用深度学习对图像进行卷积计算后加以分类等对算力要求较高的处理逻辑，可以等第一网元的算力进一步提升后再卸载到第一网元侧执行。
本申请实施例中，第二网元由于不具备执行第一处理的算力或能力，无法支持该第一处 理对应的功能特性，而第一网元具备执行该第一处理的算力或能力，第二网元将第一处理对应的处理逻辑卸载到第一网元，即第一网元对第一待处理数据进行第一处理，利用第一网元协同第二网元完成逻辑处理，可以解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持第一处理对应的功能特性，并且，还可以降低第一网元算力资源富余导致的资源浪费，提高第一网元的算力资源利用率。
可以理解的是，具体将哪一类的处理逻辑从第二网元卸载到第一网元，可以根据第一网元和第二网元的算力情况决定。本申请实施例中的第一网元包括具备执行第一处理的能力的网元，第二网元包括不具备执行第一处理的能力的网元，或为不执行该第一处理的网元。
示例性的，第一网元为包括微处理单元MPU和微控制单元MCU的网元，即第一网元的算力资源富余，具备执行第一处理的算力；第一网元也可以为包括微控制单元MCU的网元，此时的第一网元包括的微控制单元MCU具备的算力资源较为富余，足以执行第一处理，本申请实施例对此不作限制。
S403：第一网元向第二网元发送第一处理结果，相应的，第二网元接收第一网元发送的第一处理结果。
其中，该第一处理结果用于第二网元进行车辆控制，第二网元包括不具备执行第一处理的能力的网元，或为不执行该第一处理的网元，其中，不具备执行该第一处理的能力的网元，可以理解为是不执行该第一处理的网元的一种可能的情况。
本实施例将部分处理逻辑从第二网元卸载到第一网元，利用第一网元协同第二网元完成逻辑处理，可以解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性；并且，还可以降低第一网元因算力资源富余导致的大量资源浪费，提高算力资源利用率；与将感知网元采集到的原始数据(第一待处理数据)转发给第二网元相比，向第二网元发送对第一待处理数据进行第一处理得到的第一处理结果，还可以减少链路资源的消耗，保障通信顺畅。
S404：根据第一处理结果进行车辆控制。
第二网元可以根据接收到的第一处理结果进行车辆控制，或者，第二网元还可以根据接收到的第一处理结果以及其他待处理数据或其他处理结果进行协同计算，再根据协同计算得到的结果进行车辆控制。
可选的，第二网元还可以通过将接收到的第一处理结果转发给其他网元，由其他网元进行车辆控制，从而实现车辆控制的功能。
S405：根据第一处理结果进行车辆控制。
第一网元根据第一处理结果进行车辆控制。
可以理解的是，步骤S405和S404是两种可选的步骤，具体该如何处理执行处理逻辑得到的结果，可以根据车内网情况决定。
示例性的，当执行上述步骤S404时，可以是第二网元根据第一处理结果对动力域或底盘域等域控制器进行控制。
示例性的，当执行上述步骤S405时，可以是第一网元根据第一处理结果控制雨刮、车灯、车窗等车身设备。
目前搭载第二网元的存量车，无法支持由于第二网元的芯片更新所提供的新的功能特性。与目前的控车方法相比，本申请实施例将部分处理逻辑从第二网元卸载到第一网元，即第一网元对第一待处理数据进行第一处理，利用第一网元协同第二网元完成逻辑处理，可以使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性，也能解决第二 网元因算力资源不足等原因导致无法进行相应逻辑处理的技术缺陷；并且，还可以降低第一网元算力资源富余导致的资源浪费，提高第一网元的算力资源利用率；与将感知网元采集到的原始数据(第一待处理数据)直接转发给第二网元相比，向第二网元发送对第一待处理数据进行第一处理得到的第一处理结果，还可以减少链路资源的消耗，保障通信顺畅。
请参阅图5，图5为本申请实施例提供的另一种协同控车方法的流程示意图，或者，也可以理解为是上述图4中的协同控车方法流程图的变形或补充，具体可以理解为是上述图4中的第一网元所执行的步骤S401、S402、S403、S405内容的补充说明。本申请实施例中的协同控车方法应用于智能驾驶技术领域，该协同控车方法包括但不限于如下步骤：
S501：获取第一待处理数据。
第一网元获取第一待处理数据。
其中，本申请实施例中的第一网元为搭载了可用于执行计算机执行指令的处理器的网元/设备，可以是终端设备(如车载终端)等，具体可以是上述图2和图3所示的协同控车系统中的车载网关，或是集成了上述图2和图3所示的智能驾驶协同系统的网元/设备，用于执行本申请实施例中的协同控车方法，将部分处理逻辑从第二网元卸载到第一网元，利用第一网元协同第二网元完成逻辑处理，以解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性。
本申请实施例中获取第一待处理数据，可以是感知网元直接将采集到的第一待处理数据发送给第一网元，也可以是感知网元将采集到的第一待处理数据发送给第二网元，第二网元在判断该第一待处理数据属于卸载到第一网元的处理逻辑部分的情况下，将该第一待处理数据发给第一网元，本申请对此不构成限定。
其中，本申请实施例中的第二网元为搭载了可用于执行计算机执行指令的处理器的网元/设备，可以是终端设备(如车载终端)等，具体可以是上述图2和图3所示的协同控车系统中的智能驾驶系统，或是集成了上述图2和图3所示的智能驾驶协同系统的网元/设备，如智能驾驶域控制器，还可以是智能座舱域控制器、整车域控制器等，用于执行本申请实施例中的协同控车方法，将部分处理逻辑从第二网元卸载到第一网元，利用第一网元协同第二网元完成逻辑处理，以解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性。
本申请实施例中的感知网元为搭载了可用于执行计算机执行指令的处理器的网元/设备，可以是雷达、摄像头等用于采集感知数据的车载设备。
S502：根据第一信息，确定对第一待处理数据进行第一处理。
第一网元根据第一信息，确定对第一待处理数据进行第一处理。
其中，第一信息用于指示发送第一待处理数据的第三网元，第三网元为采集并发送第一待处理数据的感知网元，例如，可以是雷达、摄像头等用于采集感知数据的车载设备。
具体的，第一信息可以包括发送第一待处理数据的第三网元的信息，比如第三网元的标识、第三网元的地址等信息；第一信息也可以包括第一待处理数据从第三网元传输至第一网元的路径信息，从而可以根据该路径信息确定第三网元。
可选的，第一网元获取第一待处理数据后，还可以向第二网元发送一个请求，用于请求对第一待处理数据执行第一处理。相应的，第二网元接收到该请求后，向第一网元发送第一信息，此时，该第一信息还用于指示允许该第一网元执行第一处理。
S503：根据第二信息，对第一待处理数据进行第一处理，得到第一处理结果。
第一网元根据第二信息，对第一待处理数据进行第一处理，得到第一处理结果。
其中，第二信息包括第一待处理数据与第一处理的对应关系。
例如，当第一待处理数据为来自摄像头的图像或视频数据时，与第一待处理数据对应的第一处理可以是图像或视频算法类的逻辑处理；当第一待处理数据为来自温度感知器的温度数据时，与第一待处理数据对应的第一处理可以是温度算法类的逻辑处理。
具体的，第二信息还包括与第一处理的相关信息，其中，该相关信息包括但不限于以下至少一项：执行第一处理所需的处理逻辑信息，执行第一处理所需的参数信息，以及执行第一处理的配置信息。
第一网元可以根据配置信息，确定对第一待处理数据执行第一处理所需的处理逻辑信息，然后调用相应的处理逻辑信息进行第一处理，并且，在进行第一处理时，会协同第一处理所需的参数信息进行相应的计算，得到第一处理结果，用于协同第二网元完成逻辑处理。
S504：根据第一信息，确定向第二网元发送第一处理结果。
第一网元根据第一信息确定向第二网元发送第一处理结果，相应的，第二网元接收第一网元发送的第一处理结果，该第一处理结果用于第二网元进行车辆控制。
其中，第一信息用于指示第二网元。
具体的，第一信息可以包括第二网元的信息，比如第二网元的标识、第二网元的地址等信息；第一信息也可以包括第一处理结果从第一网元传输至第二网元的路径信息，从而可以根据该路径信息确定第二网元，进而根据该第一信息确定向第二网元发送第一处理结果。
S505：根据第一处理结果进行车辆控制。
在第一信息不指示第二网元的情况下，表示第一网元无需向第二网元发送第一处理结果，第一网元根据第一处理结果进行车辆控制。
可以理解的是，步骤S505和S504是两种可选的步骤，具体该如何处理执行处理逻辑得到的结果，可以根据车内网情况决定，本申请对此不作限制。
示例性的，当执行上述步骤S504时，可以是第二网元根据第一处理结果对动力域或底盘域等域控制器进行控制。
示例性的，当执行上述步骤S505时，可以是第一网元根据第一处理结果控制雨刮、车灯、车窗等车身设备。
本申请实施例将部分处理逻辑从第二网元卸载到第一网元，即第一网元对第一待处理数据进行第一处理，利用第一网元协同第二网元完成逻辑处理，可以使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性，也能解决第二网元因算力资源不足等原因导致无法进行相应逻辑处理的技术缺陷；并且，还可以降低第一网元算力资源富余导致的资源浪费，提高第一网元的算力资源利用率；与将感知网元采集到的原始数据(第一待处理数据)直接转发给第二网元相比，向第二网元发送对第一待处理数据进行第一处理得到的第一处理结果，还可以减少链路资源的消耗，保障通信顺畅。
示例性的，以上述图5中的步骤S501、S502、S503、S504的执行过程为例，对第一信息作进一步描述。具体可参阅图6，图6为本申请实施例提供的一种通信路由的示意图。
如图6所示，第一网元可以是车载网关，第二网元可以是智能驾驶系统，第三网元可以是激光雷达，使用编排器等具有通信编排功能的设备对上述各个网元编排通信路由，使得数据可以在上述各个网元之间传输。
具体的，第一信息用于指示发送第一待处理数据的第三网元(激光雷达)，第一信息可以 包括发送第一待处理数据的激光雷达的信息，比如激光雷达的标识、激光雷达的地址(IP地址为192.168.55.11)等信息。第一信息用于指示第二网元(智能驾驶系统)，第一信息可以包括智能驾驶系统的信息，比如智能驾驶系统的标识、智能驾驶系统的地址(IP地址为192.168.55.31)等信息。第一信息用于指示第一网元(车载网关)，第一信息可以包括车载网关的信息，比如车载网关的标识、车载网关的地址(网口1的IP地址为192.168.55.21，网口2的IP地址为192.168.55.22)等信息。
根据上述第一信息指示的通信路由，第一网元可以从IP地址为192.168.55.11的激光雷达中获取第一待处理数据，对该第一待处理数据进行第一处理，得到第一处理结果，并将第一处理结果发送给IP地址为192.168.55.31的智能驾驶系统。对应的，数据传输路径为：第一待处理数据从激光雷达(IP地址为192.168.55.11)传输至车载网关(网口1的IP地址为192.168.55.21)，第一处理结果从车载网关(网口2的IP地址为192.168.55.22)传输至智能驾驶系统(IP地址为192.168.55.31)。
通过本申请实施例，第一网元可以根据第一信息，确定应该对获取到的哪些待处理数据进行处理，从而可以根据第一信息，确定对第一待处理数据进行第一处理，协同第二网元完成逻辑处理，可以解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性。
此外，以上述图4和图5中获取第一信息和第二信息的执行过程为例，对通过空中升级OTA技术获取第一信息和第二信息作进一步描述。具体可参阅图7，图7为本申请实施例提供的一种空中升级OTA的示意图。
如图7所示，由OTA服务器将上述第一信息和第二信息合录成升级包。
其中，第一信息包括用于指示激光雷达、车载网关、智能驾驶系统之间的通信路由的信息。示例性的，通信路由包括以下信息：
起始地址1为IP地址为192.168.55.11的激光雷达；
目标地址1为IP地址为192.168.55.21的车载网关网口1；
起始地址2为IP地址为192.168.55.22的车载网关网口2；
目标地址2为IP地址为192.168.55.31的智能驾驶系统。
由上述通信路由可知，待处理数据从起始地址1传输至目标地址1，处理结果从起始地址2传输至目标地址2。
第二信息包括ADAS的相关信息，该相关信息包括但不限于以下至少一项：执行第一处理所需的处理逻辑信息，执行第一处理所需的参数信息，以及执行第一处理的配置信息。示例性的，ADAS的相关信息包括以下信息：
激光雷达目标检测的逻辑处理函数func1；
逻辑处理函数func1对应的参数param1；
IP地址192.168.55.11对应于逻辑处理函数func1的配置信息。
由上述ADAS相关信息可知，判断待处理数据来自IP地址为192.168.55.11的激光雷达，然后根据ADAS相关信息中的配置信息，确定与该激光雷达对应的逻辑处理函数func1，并从ADAS相关信息中调用与该激光雷达对应的逻辑处理函数func1对待处理数据进行处理，在处理过程中会协同ADAS相关信息中逻辑处理函数func1对应的参数param1进行计算，得到处理结果。
当诊断仪或者智能驾驶系统发起升级请求，第一网元通过OTA技术从OTA服务器中获取升级包，对第一信息和第二信息进行更新升级，以根据更新后的第一信息和第二信息确定对 第一待处理数据进行相应的第一处理，协同第二网元完成逻辑处理。
应理解，上述通过空中升级OTA技术对第一信息和第二信息执行的升级处理，与上述对第一待处理数据执行的第一处理，可以是具有先后顺序的单线程处理关系，也可以是不分先后的多线程并行处理关系，本申请实施例对此不作限制。
请参阅图8，图8为本申请实施例提供的又一种协同控车方法的流程示意图，或者，也可以理解为是上述图4中的协同控车方法流程图的变形或补充，具体可以理解为是上述图4中的第二网元所执行的步骤S403、S404内容的补充说明。本申请实施例中的协同控车方法应用于智能驾驶技术领域，该协同控车方法包括但不限于如下步骤：
S801：获取第一处理结果。
第二网元获取第一处理结果，具体可以是，第一网元向第二网元发送第一处理结果，相应的，第二网元接收第一网元发送的第一处理结果。
其中，该第一处理结果包括第一网元对第一待处理数据进行第一处理得到的结果，该第一处理结果用于第二网元进行车辆控制，第二网元包括不具备执行第一处理的能力的网元，或为不执行该第一处理的网元。
其中，本申请实施例中的第一网元为搭载了可用于执行计算机执行指令的处理器的网元/设备，可以是终端设备(如车载终端)等，具体可以是上述图2和图3所示的协同控车系统中的车载网关，或是集成了上述图2和图3所示的智能驾驶协同系统的网元/设备，用于执行本申请实施例中的协同控车方法，将部分处理逻辑从第二网元卸载到第一网元，利用第一网元协同第二网元完成逻辑处理，以解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性。
本申请实施例中的第二网元为搭载了可用于执行计算机执行指令的处理器的网元/设备，可以是终端设备(如车载终端)等，具体可以是上述图2和图3所示的协同控车系统中的智能驾驶系统，或是集成了上述图2和图3所示的智能驾驶协同系统的网元/设备，如智能驾驶域控制器，还可以是智能座舱域控制器、整车域控制器等，用于执行本申请实施例中的协同控车方法，将部分处理逻辑从第二网元卸载到第一网元，利用第一网元协同第二网元完成逻辑处理，以解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性。
S802：根据第一处理结果进行车辆控制。
第二网元根据第一处理结果进行车辆控制。
示例性的，第二网元根据第一处理结果对动力域或底盘域等域控制器进行控制，或者，根据第一处理结果控制雨刮、车灯、车窗等车身设备。
可选的，第二网元还可以通过将接收到的第一处理结果转发给其他网元，由其他网元进行车辆控制，从而实现车辆控制的功能。
S803：获取第二处理结果或第二待处理数据。
第二待处理数据可以和第一待处理数据来自于同一个感知网元，第二待处理数据也可以来自于不同的感知网元，第二处理结果可以是其他网元对第二待处理数据进行第二处理得到的处理结果，也可以是第二网元对第二待处理数据进行第二处理得到的处理结果，本申请实施例对此不作限制。
S804：对第一处理结果，以及第二处理结果或第二待处理数据进行融合处理，得到融合 结果。
S805：根据融合结果进行车辆控制。
第二网元根据融合结果进行车辆控制，该融合结果与第一处理结果和第二处理结果相关联，具体可以是第一处理结果与第二处理结果进行融合处理得到的结果，或者，该融合结果与第一处理结果和第二待处理数据相关联，具体可以是第一处理结果与第二待处理数据进行融合处理得到的结果，本申请实施例对此不作限制。
示例性的，第二网元根据融合结果对动力域或底盘域等域控制器进行控制，或者，根据融合结果控制雨刮、车灯、车窗等车身设备。
可选的，第二网元还可以通过将得到的融合结果发送给其他网元，由其他网元进行车辆控制，从而实现车辆控制的功能。
本申请实施例将部分处理逻辑从第二网元卸载到第一网元，即第一网元对第一待处理数据进行第一处理，利用第一网元协同第二网元完成逻辑处理，可以使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性，也能解决第二网元因算力资源不足等原因导致无法进行相应逻辑处理的技术缺陷；并且，还可以降低第一网元算力资源富余导致的资源浪费，提高第一网元的算力资源利用率；与将感知网元采集到的原始数据(第一待处理数据)直接转发给第二网元相比，向第二网元发送对第一待处理数据进行第一处理得到的第一处理结果，还可以减少链路资源的消耗，保障通信顺畅。
上述详细阐述了本申请实施例的方法，下面提供用于实现本申请实施例中任一种方法的装置，例如，提供一种装置包括用以实现以上任一种方法中网元/设备所执行的各步骤的单元(或手段)。
请参阅图9，图9为本申请实施例提供的一种协同控车装置的结构示意图。
如图9所示，该协同控车装置90可以包括收发单元901以及处理单元902。收发单元901以及处理单元902可以是软件，也可以是硬件，或者是软件和硬件结合。
其中，收发单元901可以实现发送功能和/或接收功能，收发单元901也可以描述为通信单元。收发单元901还可以是集成了获取单元和发送单元的单元，其中，获取单元用于实现接收功能，发送单元用于实现发送功能。可选的，收发单元901可以用于接收其他装置发送的信息，还可以用于向其他装置发送信息。
在一种可能的设计中，该协同控车装置90可对应于上述图4、图5所示的方法实施例中的第一网元，如该协同控车装置90可以是第一网元，也可以是第一网元中的芯片。该协同控车装置90可以包括用于执行上述图4、图5所示的方法实施例中由第一网元所执行的操作的单元，并且，该协同控车装置90中的各单元分别为了实现上述图4、图5所示的方法实施例中由第一网元所执行的操作。其中，各个单元的描述如下：
处理单元902，用于获取第一待处理数据；
所述处理单元902，还用于对所述第一待处理数据进行第一处理，得到第一处理结果；
收发单元901，用于向第二网元发送所述第一处理结果，所述第一处理结果用于所述第二网元进行车辆控制，其中，所述第二网元为不执行所述第一处理的网元；
或者，所述处理单元902，还用于根据所述第一处理结果进行车辆控制，所述协同控车装置包括车载网关。
在一种可能的实施方式中，所述第二网元还包括不具备执行所述第一处理的能力的网元。
在一种可能的实施方式中，所述处理单元902，还用于在对所述第一待处理数据进行第 一处理之前，根据第一信息，确定对所述第一待处理数据进行所述第一处理；其中，所述第一信息用于指示执行所述第一处理。
在一种可能的实施方式中，所述第一信息还用于指示允许所述协同控车装置执行所述第一处理。
在一种可能的实施方式中，所述第一信息还用于指示发送所述第一待处理数据的第三网元；
所述处理单元902，还用于确定对来自所述第三网元的所述第一待处理数据进行所述第一处理。
在一种可能的实施方式中，所述第一信息还用于指示所述第二网元；
所述处理单元902，还用于根据所述第一信息，确定向所述第二网元发送所述第一处理结果。
在一种可能的实施方式中，所述处理单元902，具体用于根据第二信息对所述第一待处理数据进行所述第一处理；其中，所述第二信息包括所述第一待处理数据与所述第一处理的对应关系。
在一种可能的实施方式中，所述第二信息还包括所述第一处理的相关信息，所述第一处理的相关信息包括以下至少一项：
执行所述第一处理所需的处理逻辑信息，执行所述第一处理所需的参数信息，执行所述第一处理的配置信息。
在一种可能的实施方式中，所述第二信息根据以下至少一项方式得到：空中升级OTA，或者，预先配置，或者，所述第二网元。
在一种可能的实施方式中，所述第一信息根据以下至少一项方式得到：空中升级OTA，或者，预先配置，或者，具备通信编排功能的网元。
在一种可能的实施方式中，所述收发单元，还用于发送第一能力信息，所述第一能力信息表征所述协同控车装置具备执行所述第一处理的能力。
在一种可能的实施方式中，所述第一能力信息包括执行所述第一处理所需的算力能力的信息。
在一种可能的实施方式中，所述第一能力信息通过以下至少一项方式发送：广播消息，或者，点对点发送。
在一种可能的实施方式中，所述第一处理在满足以下条件的情况下执行：所述协同控车装置具备执行所述第一处理的算力，且所述第二网元不具备执行所述第一处理的算力。
在一种可能的实施方式中，所述协同控车装置包括微处理单元MPU和微控制单元MCU。
在另一种可能的设计中，该协同控车装置90可对应于上述图4、图8所示的方法实施例中的第二网元，如该协同控车装置90可以是第二网元，也可以是第二网元中的芯片。该协同控车装置90可以包括用于执行上述图4、图8所示的方法实施例中由第二网元所执行的操作的单元，并且，该协同控车装置90中的各单元分别为了实现上述图4、图8所示的方法实施例中由第二网元所执行的操作。其中，各个单元的描述如下：
收发单元901，用于接收第一网元发送的第一处理结果，所述第一处理结果包括所述第一网元对第一待处理数据进行第一处理得到的处理结果，所述协同控车装置包括不执行所述第一处理的网元；
处理单元902，用于根据所述第一处理结果进行车辆控制。
在一种可能的实施方式中，所述处理单元902，还用于根据融合结果进行车辆控制，其 中，所述融合结果与所述第一处理结果和第二处理结果相关联，或者，所述融合结果与所述第一处理结果和第二待处理数据相关联，所述第二处理结果包括所述协同控车装置对所述第二待处理数据进行第二处理得到的处理结果。
在一种可能的实施方式中，所述协同控车装置还包括不具备执行所述第一处理的能力的网元。
在一种可能的实施方式中，对所述第一待处理数据进行所述第一处理与第一信息相关联，所述第一信息用于指示执行所述第一处理。
在一种可能的实施方式中，所述第一信息还用于指示允许所述第一网元执行所述第一处理。
在一种可能的实施方式中，所述第一信息还用于指示发送所述第一待处理数据的第三网元；对来自所述第三网元的所述第一待处理数据进行所述第一处理与所述第一信息相关联。
在一种可能的实施方式中，所述第一信息还用于指示所述协同控车装置；确定向所述协同控车装置发送所述第一处理结果与所述第一信息相关联。
在一种可能的实施方式中，对所述第一待处理数据进行所述第一处理与第二信息相关联；其中，所述第二信息包括所述第一待处理数据与所述第一处理的对应关系。
在一种可能的实施方式中，所述第二信息还包括所述第一处理的相关信息，所述第一处理的相关信息包括以下至少一项：
执行所述第一处理所需的处理逻辑信息，执行所述第一处理所需的参数信息，执行所述第一处理的配置信息。
在一种可能的实施方式中，所述第二信息根据以下至少一项方式得到：空中升级OTA，或者，预先配置，或者，所述协同控车装置。
在一种可能的实施方式中，所述第一信息根据以下至少一项方式得到：空中升级OTA，或者，预先配置，或者，具备通信编排功能的网元。
在一种可能的实施方式中，所述收发单元901，还用于接收第一能力信息，所述第一能力信息表征所述第一网元具备执行所述第一处理的能力。
在一种可能的实施方式中，所述第一能力信息包括执行所述第一处理所需的算力能力的信息。
在一种可能的实施方式中，所述第一能力信息通过以下至少一项方式接收：广播消息，或者，点对点接收。
在一种可能的实施方式中，所述第一处理在满足以下条件的情况下执行：所述第一网元具备执行所述第一处理的算力，且所述协同控车装置不具备执行所述第一处理的算力。
在一种可能的实施方式中，所述第一网元包括微处理单元MPU和微控制单元MCU。
根据本申请实施例，图9所示的装置中的各个单元可以分别或全部合并为一个或若干个另外的单元来构成，或者其中的某个(些)单元还可以再拆分为功能上更小的多个单元来构成，这可以实现同样的操作，而不影响本申请的实施例的技术效果的实现。上述单元是基于逻辑功能划分的，在实际应用中，一个单元的功能也可以由多个单元来实现，或者多个单元的功能由一个单元实现。在本申请的其它实施例中，基于电子设备也可以包括其它单元，在实际应用中，这些功能也可以由其它单元协助实现，并且可以由多个单元协作实现。
需要说明的是，各个单元的实现还可以对应参照上述图4、图5、图8所示的方法实施例的相应描述。
在图9所描述的协同控车装置90中，将部分处理逻辑从第二网元卸载到第一网元，利用 第一网元协同第二网元完成逻辑处理，可以解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性。
请参阅图10，图10为本申请实施例提供的一种电子设备100的结构示意图。该电子设备100可以包括存储器1001、处理器1002。进一步可选的，还可以包含通信接口1003以及总线1004，其中，存储器1001、处理器1002以及通信接口1003通过总线1004实现彼此之间的通信连接。通信接口1003用于与上述协同控车装置90进行数据交互。
其中，存储器1001用于提供存储空间，存储空间中可以存储操作系统和计算机程序等数据。存储器1001包括但不限于是随机存储记忆体(random access memory，RAM)、只读存储器(read-only memory，ROM)、可擦除可编程只读存储器(erasable programmable read only memory，EPROM)、或便携式只读存储器(compact disc read-only memory，CD-ROM)。
处理器1002是进行算术运算和逻辑运算的模块，可以是中央处理器(central processing unit，CPU)、显卡处理器(graphics processing unit，GPU)或微处理器(microprocessor unit，MPU)等处理模块中的一种或者多种的组合。
在一种可能的设计中，该电子设备100可对应于上述图4、图5所示的方法实施例中的第一网元，如该电子设备100可以是第一网元，也可以是第一网元中的芯片。该电子设备100可以包括用于执行上述方法实施例中由第一网元所执行的操作的部件，并且，该电子设备100中的各部件分别为了实现上述方法实施例中由第一网元所执行的操作，处理器1002调用存储器1001中存储的计算机程序，以执行上述图4、图5所示的协同控车方法，具体可以如下所示：
第一网元获取第一待处理数据；
所述第一网元对所述第一待处理数据进行第一处理，得到第一处理结果；
所述第一网元向第二网元发送所述第一处理结果，所述第一处理结果用于所述第二网元进行车辆控制，其中，所述第二网元为不执行所述第一处理的网元；
或者，所述第一网元根据所述第一处理结果进行车辆控制，所述第一网元包括车载网关。
在一种可能的实施方式中，所述第二网元还包括不具备执行所述第一处理的能力的网元。
在一种可能的实施方式中，所述对所述第一待处理数据进行第一处理之前，所述方法还包括：
根据第一信息，确定对所述第一待处理数据进行所述第一处理；其中，所述第一信息用于指示执行所述第一处理。
在一种可能的实施方式中，所述第一信息还用于指示允许所述第一网元执行所述第一处理。
在一种可能的实施方式中，所述第一信息还用于指示发送所述第一待处理数据的第三网元；
所述确定对所述第一待处理数据进行所述第一处理，包括：
确定对来自所述第三网元的所述第一待处理数据进行所述第一处理。
在一种可能的实施方式中，所述第一信息还用于指示所述第二网元；
所述向第二网元发送所述第一处理结果，包括：
根据所述第一信息，确定向所述第二网元发送所述第一处理结果。
在一种可能的实施方式中，所述对所述第一待处理数据进行第一处理，包括：
根据第二信息对所述第一待处理数据进行所述第一处理；其中，所述第二信息包括所述第一待处理数据与所述第一处理的对应关系。在一种可能的实施方式中，所述第二信息还包括所述第一处理的相关信息，所述第一处理的相关信息包括以下至少一项：
执行所述第一处理所需的处理逻辑信息，执行所述第一处理所需的参数信息，执行所述第一处理的配置信息。
在一种可能的实施方式中，所述第二信息根据以下至少一项方式得到：空中升级OTA，或者，预先配置，或者，所述第二网元。
在一种可能的实施方式中，所述第一信息根据以下至少一项方式得到：空中升级OTA，或者，预先配置，或者，具备通信编排功能的网元。
在一种可能的实施方式中，所述方法还包括：
所述第一网元发送第一能力信息，所述第一能力信息表征所述第一网元具备执行所述第一处理的能力。
在一种可能的实施方式中，所述第一能力信息包括执行所述第一处理所需的算力能力的信息。
在一种可能的实施方式中，所述第一能力信息通过以下至少一项方式发送：广播消息，或者，点对点发送。
在一种可能的实施方式中，所述第一处理在满足以下条件的情况下执行：所述第一网元具备执行所述第一处理的算力，且所述第二网元不具备执行所述第一处理的算力。
在一种可能的实施方式中，所述第一网元包括微处理单元MPU和微控制单元MCU。
上述处理器1002执行方法的具体内容可参阅上述图4、图5，此处不再赘述。
相应的，处理器1002调用存储器1001中存储的计算机程序，还可以用于执行上述图9所示的协同控车装置90中的各个单元所执行的方法步骤，其具体内容可参阅上述图9，此处不再赘述。
在另一种可能的设计中，该电子设备100可对应于上述图4、图8所示的方法实施例中的第二网元，如该电子设备100可以是第二网元，也可以是第二网元中的芯片。该电子设备100可以包括用于执行上述方法实施例中由第二网元所执行的操作的部件，并且，该电子设备100中的各部件分别为了实现上述方法实施例中由第二网元所执行的操作，处理器1002调用存储器1001中存储的计算机程序，以执行上述图4、图8所示的协同控车方法，具体可以如下所示：
第二网元接收第一网元发送的第一处理结果，所述第一处理结果包括所述第一网元对第一待处理数据进行第一处理得到的处理结果，所述第二网元为不执行所述第一处理的网元；
所述第二网元根据所述第一处理结果进行车辆控制。
在一种可能的实施方式中，所述第二网元根据所述第一处理结果进行车辆控制，包括：
所述第二网元根据融合结果进行车辆控制，其中，所述融合结果与所述第一处理结果和第二处理结果相关联，或者，所述融合结果与所述第一处理结果和第二待处理数据相关联，所述第二处理结果包括所述第二网元对所述第二待处理数据进行第二处理得到的处理结果。
在一种可能的实施方式中，所述第二网元还包括不具备执行所述第一处理的能力的网元。
在一种可能的实施方式中，对所述第一待处理数据进行所述第一处理与第一信息相关联，所述第一信息用于指示执行所述第一处理。
在一种可能的实施方式中，所述第一信息还用于指示允许所述第一网元执行所述第一处理。
在一种可能的实施方式中，所述第一信息还用于指示发送所述第一待处理数据的第三网元；对来自所述第三网元的所述第一待处理数据进行所述第一处理与所述第一信息相关联。
在一种可能的实施方式中，所述第一信息还用于指示所述第二网元；确定向所述第二网元发送所述第一处理结果与所述第一信息相关联。
在一种可能的实施方式中，对所述第一待处理数据进行所述第一处理与第二信息相关联；其中，所述第二信息包括所述第一待处理数据与所述第一处理的对应关系。
在一种可能的实施方式中，所述第二信息还包括所述第一处理的相关信息，所述第一处理的相关信息包括以下至少一项：
执行所述第一处理所需的处理逻辑信息，执行所述第一处理所需的参数信息，执行所述第一处理的配置信息。
在一种可能的实施方式中，所述第二信息根据以下至少一项方式得到：空中升级OTA，或者，预先配置，或者，所述第二网元。
在一种可能的实施方式中，所述第一信息根据以下至少一项方式得到：空中升级OTA，或者，预先配置，或者，具备通信编排功能的网元。
在一种可能的实施方式中，所述方法还包括：
所述第二网元接收第一能力信息，所述第一能力信息表征所述第一网元具备执行所述第一处理的能力。
在一种可能的实施方式中，所述第一能力信息包括执行所述第一处理所需的算力能力的信息。
在一种可能的实施方式中，所述第一能力信息通过以下至少一项方式接收：广播消息，或者，点对点接收。
在一种可能的实施方式中，所述第一处理在满足以下条件的情况下执行：所述第一网元具备执行所述第一处理的算力，且所述第二网元不具备执行所述第一处理的算力。
在一种可能的实施方式中，所述第一网元包括微处理单元MPU和微控制单元MCU。
上述处理器1002执行方法的具体内容可参阅上述图4、图8，此处不再赘述。
相应的，处理器1002调用存储器1001中存储的计算机程序，还可以用于执行上述图9所示的协同控车装置90中的各个单元所执行的方法步骤，其具体内容可参阅上述图9，此处不再赘述。
在图10所描述的电子设备100中，将部分处理逻辑从第二网元卸载到第一网元，利用第一网元协同第二网元完成逻辑处理，可以解决第二网元因算力资源不足等原因导致无法进行第一处理的技术问题，使搭载第二网元的存量车也能支持因第二网元的芯片更新所提供的新的功能特性。
对于电子设备可以是芯片或芯片系统的情况，可参阅图11所示的芯片的结构示意图。
如图11所示，芯片110包括处理器1101和接口1102。其中，处理器1101的数量可以是一个或多个，接口1102的数量可以是多个。需要说明的，处理器1101、接口1102各自对应的功能既可以通过硬件设计实现，也可以通过软件设计来实现，还可以通过软硬件结合的方式来实现，这里不作限制。
可选的，芯片110还可以包括存储器1103，存储器1103用于存储必要的程序指令和数据。
本申请中，处理器1101可用于从存储器1103中调用本申请的一个或多个实施例提供的协同控车方法在电子设备的实现程序，并执行该程序包含的指令。接口1102可用于输出处理器1101的执行结果。本申请中，接口1102可具体用于输出处理器1101的各个消息或信息。
关于本申请的一个或多个实施例提供的协同控车方法可参考上述图4、图5以及图8所示各个实施例，这里不再赘述。
本申请实施例中的处理器可以是中央处理单元(Central Processing Unit，CPU)，该处理器还可以是其他通用处理器、数字信号处理器(digital signal processor，DSP)、专用集成电路(application specific integrated circuit，ASIC)、现成可编程门阵列(field programmable gate array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
本申请实施例中的存储器用于提供存储空间，存储空间中可以存储操作系统和计算机程序等数据。存储器包括但不限于是随机存储记忆体(random access memory，RAM)、只读存储器(read-only memory，ROM)、可擦除可编程只读存储器(erasable programmable read only memory，EPROM)、或便携式只读存储器(compact disc read-only memory，CD-ROM)。
根据本申请实施例提供的方法，本申请实施例还提供一种计算机可读存储介质，上述计算机可读存储介质中存储有计算机程序，当上述计算机程序在一个或多个处理器上运行时，可以实现上述图4、图5以及图8所示的方法。
根据本申请实施例提供的方法，本申请实施例还提供一种计算机程序产品，上述计算机程序产品包括计算机程序，当上述计算机程序在处理器上运行时，可以实现上述图4、图5以及图8所示的方法。
本申请实施例提供一种车端，该车端包括至少一个如上述协同控车装置90或电子设备100或芯片110。
本申请实施例还提供了一种系统，该系统包括车端以及至少一个如上述协同控车装置90或电子设备100或芯片110，用于执行上述图4、图5以及图8任一实施例中相应网元执行的步骤。
本申请实施例还提供了一种系统，该系统包括第一网元和第二网元，其中，该第一网元用于执行上述图4、图5以及图8中任一实施例中的第一网元执行的步骤，该第二网元用于执行上述图4、图5以及图8中任一实施例中的第二网元执行的步骤。
本申请实施例还提供了一种处理装置，包括处理器和接口；所述处理器用于执行上述任一方法实施例中的方法。
应理解，上述处理装置可以是一个芯片。例如，该处理装置可以是现场可编程门阵列(field programmable gate array，FPGA)，可以是通用处理器、数字信号处理器(digital signal processor，DSP)、专用集成电路(application specific integrated circuit，ASIC)、现成可编程门阵列(field programmable gate array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件，还可以是系统芯片(system on chip，SoC)，还可以是中央处理器(central processor unit，CPU)，还可以是网络处理器(network processor，NP)，还可以是数字信号处理电路(digital signal processor，DSP)，还可以是微控制器(micro controller unit，MCU)，还可以是可编程控制器(programmable logic device，PLD)或其他集成芯片。可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本申请实施例所公开的方法的步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器，处理器读取存储器中的信息，结合其硬件完成上述方法的步骤。
可以理解，本申请实施例中的存储器可以是易失性存储器或非易失性存储器，或可包括易失性和非易失性存储器两者。其中，非易失性存储器可以是只读存储器(read-only memory，ROM)、可编程只读存储器(programmable ROM，PROM)、可擦除可编程只读存储器(erasable PROM，EPROM)、电可擦除可编程只读存储器(electrically EPROM，EEPROM)或闪存。易失性存储器可以是随机存取存储器(random access memory，RAM)，其用作外部高速缓存。通过示例性但不是限制性说明，许多形式的RAM可用，例如静态随机存取存储器(static RAM，SRAM)、动态随机存取存储器(dynamic RAM，DRAM)、同步动态随机存取存储器(synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(double data rate SDRAM，DDR SDRAM)、增强型同步动态随机存取存储器(enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(synchlink DRAM，SLDRAM)和直接内存总线随机存取存储器(direct rambus RAM，DR RAM)。应注意，本文描述的系统和方法的存储器旨在包括但不限于这些和任意其它适合类型的存储器。
在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。所述计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行所述计算机指令时，全部或部分地产生按照本申请实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。所述计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，所述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(digital subscriber line，DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质(例如，软盘、硬盘、磁带)、光介质(例如，高密度数字视频光盘(digital video disc，DVD))、或者半导体介质(例如，固态硬盘(solid state disc，SSD))等。
上述各个装置实施例中的单元和方法实施例中的电子设备完全对应，由相应的模块或单元执行相应的步骤，例如通信单元(收发器)执行方法实施例中接收或发送的步骤，除发送、接收外的其它步骤可以由处理单元(处理器)执行。具体单元的功能可以参考相应的方法实施例。其中，处理器可以为一个或多个。
可以理解的，本申请实施例中，电子设备可以执行本申请实施例中的部分或全部步骤，这些步骤或操作仅是示例，本申请实施例还可以执行其它操作或者各种操作的变形。此外，各个步骤可以按照本申请实施例呈现的不同的顺序来执行，并且有可能并非要执行本申请实施例中的全部操作。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分， 仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器ROM、随机存取存储器RAM、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。

Claims (28)

  1. 一种协同控车方法，其特征在于，包括：
    第一网元获取第一待处理数据；
    所述第一网元对所述第一待处理数据进行第一处理，得到第一处理结果；
    所述第一网元向第二网元发送所述第一处理结果，所述第一处理结果用于所述第二网元进行车辆控制，其中，所述第二网元为不执行所述第一处理的网元；
    或者，所述第一网元根据所述第一处理结果进行车辆控制，所述第一网元包括车载网关。
  2. 根据权利要求1所述的方法，其特征在于，所述对所述第一待处理数据进行第一处理之前，所述方法还包括：
    根据第一信息，确定对所述第一待处理数据进行所述第一处理；其中，所述第一信息用于指示执行所述第一处理。
  3. 根据权利要求2所述的方法，其特征在于，所述第一信息还用于指示发送所述第一待处理数据的第三网元；
    所述确定对所述第一待处理数据进行所述第一处理，包括：
    确定对来自所述第三网元的所述第一待处理数据进行所述第一处理。
  4. 根据权利要求2或3所述的方法，其特征在于，所述第一信息还用于指示所述第二网元；
    所述向第二网元发送所述第一处理结果，包括：
    根据所述第一信息，确定向所述第二网元发送所述第一处理结果。
  5. 根据权利要求1至4中任一项所述的方法，其特征在于，所述对所述第一待处理数据进行第一处理，包括：
    根据第二信息对所述第一待处理数据进行所述第一处理；其中，所述第二信息包括所述第一待处理数据与所述第一处理的对应关系。
  6. 根据权利要求5所述的方法，其特征在于，所述第二信息根据以下至少一项方式得到：空中升级OTA，或者，预先配置，或者，所述第二网元。
  7. 根据权利要求1至6中任一项所述的方法，其特征在于，所述方法还包括：
    所述第一网元发送第一能力信息，所述第一能力信息表征所述第一网元具备执行所述第一处理的能力。
  8. 根据权利要求1至7中任一项所述的方法，其特征在于，所述第一处理在满足以下条件的情况下执行：所述第一网元具备执行所述第一处理的算力，且所述第二网元不具备执行所述第一处理的算力。
  9. 根据权利要求1至8中任一项所述的方法，其特征在于，所述第一网元包括微处理单元MPU和微控制单元MCU。
  10. 一种协同控车方法，其特征在于，包括：
    第二网元接收第一网元发送的第一处理结果，所述第一处理结果包括所述第一网元对第一待处理数据进行第一处理得到的处理结果，所述第二网元为不执行所述第一处理的网元；
    所述第二网元根据所述第一处理结果进行车辆控制。
  11. 根据权利要求10所述的方法，其特征在于，所述第二网元根据所述第一处理结果进行车辆控制，包括：
    所述第二网元根据融合结果进行车辆控制，其中，所述融合结果与所述第一处理结果和第二处理结果相关联，或者，所述融合结果与所述第一处理结果和第二待处理数据相关联，所述第二处理结果包括所述第二网元对所述第二待处理数据进行第二处理得到的处理结果。
  12. 根据权利要求10或11所述的方法，其特征在于，对所述第一待处理数据进行所述第一处理与第一信息相关联，所述第一信息用于指示执行所述第一处理。
  13. 根据权利要求12所述的方法，其特征在于，所述第一信息还用于指示发送所述第一待处理数据的第三网元；对来自所述第三网元的所述第一待处理数据进行所述第一处理与所述第一信息相关联。
  14. 根据权利要求12或13所述的方法，其特征在于，所述第一信息还用于指示所述第二网元；确定向所述第二网元发送所述第一处理结果与所述第一信息相关联。
  15. 根据权利要求10至14中任一项所述的方法，其特征在于，对所述第一待处理数据进行所述第一处理与第二信息相关联；其中，所述第二信息包括所述第一待处理数据与所述第一处理的对应关系。
  16. 根据权利要求15所述的方法，其特征在于，所述第二信息根据以下至少一项方式得到：空中升级OTA，或者，预先配置，或者，所述第二网元。
  17. 根据权利要求10至16中任一项所述的方法，其特征在于，所述方法还包括：
    所述第二网元接收第一能力信息，所述第一能力信息表征所述第一网元具备执行所述第一处理的能力。
  18. 根据权利要求10至17中任一项所述的方法，其特征在于，所述第一处理在满足以下条件的情况下执行：所述第一网元具备执行所述第一处理的算力，且所述第二网元不具备执行所述第一处理的算力。
  19. 根据权利要求10至18中任一项所述的方法，其特征在于，所述第一网元包括微处理单元MPU和微控制单元MCU。
  20. 一种协同控车装置，其特征在于，包括：
    处理单元，用于获取第一待处理数据；
    所述处理单元，还用于对所述第一待处理数据进行第一处理，得到第一处理结果；
    收发单元，用于向第二网元发送所述第一处理结果，所述第一处理结果用于所述第二网元进行车辆控制，其中，所述第二网元为不执行所述第一处理的网元；
    或者，所述处理单元，还用于根据所述第一处理结果进行车辆控制，所述协同控车装置包括车载网关。
  21. 一种协同控车装置，其特征在于，包括：
    收发单元，用于接收第一网元发送的第一处理结果，所述第一处理结果包括所述第一网元对第一待处理数据进行第一处理得到的处理结果，所述协同控车装置为不执行所述第一处理的装置；
    处理单元，用于根据所述第一处理结果进行车辆控制。
  22. 一种电子设备，其特征在于，包括：处理器；
    当所述处理器调用存储器中的计算机程序或指令时，使如权利要求1至9中任一项所述的方法被执行，或权利要求10至19中任一项所述的方法被执行。
  23. 一种计算机可读存储介质，其特征在于，包括：
    所述计算机可读存储介质用于存储指令或计算机程序；当所述指令或所述计算机程序被执行时，使如权利要求1至9中任一项所述的方法被实现，或权利要求10至19中任一项所述的方法被实现。
  24. 一种计算机程序产品，其特征在于，包括：指令或计算机程序；
    所述指令或所述计算机程序被执行时，使如权利要求1至9中任一项所述的方法被实现，或权利要求10至19中任一项所述的方法被实现。
  25. 一种芯片，其特征在于，包括：处理器；
    所述处理器用于执行指令；当所述指令被执行时，使如权利要求1至9中任一项所述的方法被实现，或权利要求10至19中任一项所述的方法被实现。
  26. 一种车端，其特征在于，包括如权利要求20所述的协同控车装置，或如权利要求21所述的协同控车装置，或如权利要求22所述的电子设备，或如权利要求25所述的芯片。
  27. 一种系统，其特征在于，包括车辆以及如权利要求20所述的协同控车装置，或如权利要求21所述的协同控车装置，或如权利要求22所述的电子设备，或如权利要求25所述的芯片。
  28. 一种系统，其特征在于，包括：第一网元和第二网元；
    所述第一网元用于执行如权利要求1至9中任一项所述的方法，所述第二网元用于执行如权利要求10至19中任一项所述的方法。
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