Disclosure of Invention
The embodiment of the disclosure at least provides a vehicle control method, a vehicle control device, a vehicle and a storage medium.
In a first aspect, an embodiment of the present disclosure provides a vehicle control method, applied to a vehicle, where the vehicle includes a plurality of domain controllers, the domain controllers include a vehicle body domain controller and a plurality of cabin domain controllers, the plurality of cabin domain controllers are respectively used for controlling vehicle-mounted devices in respective cabin domains, and the vehicle body domain controller is used for controlling the vehicle-mounted devices in the vehicle body domain, and the method includes:
responsive to a restart of a first of the plurality of cabin controllers, acquiring a historical operating mode of the vehicle prior to the restart of the first cabin controller;
Determining an associated domain controller from the plurality of domain controllers that is related to the historical operating mode based on the historical operating mode and the first cabin domain controller;
And the state synchronization instruction is used for controlling the first cabin domain controller or vehicle-mounted equipment in the associated domain controller to enter a target running state corresponding to a target running mode after the first cabin domain controller is restarted.
Thus, when the first cabin controller is restarted, the history operation mode of the vehicle before the first cabin controller is restarted is acquired, then the associated domain controller is determined according to the history operation mode and the first cabin controller, a state synchronization instruction is sent to the first cabin controller or the associated domain controller, through the steps, when the first cabin domain controller is restarted, according to the historical operation mode, the first cabin domain controller and the associated domain controller can be subjected to state synchronization, so that system conflicts or software and hardware conflicts caused by different state information among the domain controllers are avoided, and the driving risk is effectively reduced.
In an alternative embodiment, the state synchronization instruction includes a first state synchronization instruction sent to the associated domain controller;
the first cabin domain controller is a main domain controller, and the sending a state synchronization instruction to the first cabin domain controller or the associated domain controller includes:
and generating a first state synchronization instruction based on the first state information after restarting the main domain controller, and sending the first state synchronization instruction to the associated domain controller, wherein the first state synchronization instruction is used for controlling the vehicle-mounted equipment in the associated domain controller to enter a target running state corresponding to the target running mode indicated by the first state information.
In this way, the first cabin domain controller can be used as a main domain controller to generate a first state synchronization instruction, and the vehicle-mounted equipment in the associated domain controller is controlled so that the first cabin domain controller is in state synchronization with the associated domain controller.
In an alternative embodiment, the state synchronization instruction includes a second state synchronization instruction sent to the first cabin controller;
The first cabin domain controller is a slave domain controller, and the sending a state synchronization instruction to the first cabin domain controller or the association domain controller includes:
Generating a second state synchronization instruction based on second state information corresponding to the associated domain controller, and sending the second state synchronization instruction to the subordinate domain controller, wherein the second state synchronization instruction is used for controlling vehicle-mounted equipment in the subordinate domain controller to enter a target running state corresponding to a target running mode indicated by the second state information;
The master domain controller is characterized in that the first cabin domain controller synchronizes the first state information to the associated domain controller, and the slave domain controller is characterized in that the first cabin domain controller acquires the second state information of the associated domain controller.
In this way, the first cabin domain controller can be used as a slave domain controller to generate a second state synchronization instruction, and the vehicle-mounted equipment in the first cabin domain controller is controlled so that the first cabin domain controller is in state synchronization with the associated domain controller.
In an alternative embodiment, the method further comprises:
The method comprises the steps of sending restarting information to the associated domain controller, wherein the restarting information is used for determining whether the associated domain controller maintains a historical operation mode or not;
Receiving the second state information sent by the slave domain controller;
The second state information comprises state information of maintaining the history operation mode after the association domain controller determines to maintain the history operation mode;
Or alternatively
The method comprises the step that after the associated domain controller determines that the historical operation mode is not maintained, the associated domain controller exits from the state information after the historical operation mode.
In this way, according to the second state information fed back by the associated domain controller, a second state synchronization instruction is generated, which is used for indicating the vehicle-mounted device in the slave domain controller to enter the target running state according to the target running mode indicated by the second state synchronization instruction.
In an alternative embodiment, the method further comprises:
Determining, in response to a restart of the body domain controller, an associated domain controller that is related to the historical operating mode among the plurality of domain controllers based on the historical operating mode and the body domain controller;
And the state synchronization instruction is used for controlling the vehicle-mounted equipment in the vehicle body domain controller or the associated domain controller to enter a target running state corresponding to a target running mode after the vehicle body domain controller is restarted.
Therefore, when the vehicle body domain controller is restarted, the vehicle body domain controller and the associated domain controller can be subjected to state synchronization according to the historical operation mode, so that system conflicts or software and hardware conflicts caused by different state information among the domain controllers are avoided, and the running risk is effectively reduced.
In an alternative embodiment, the method further comprises:
Determining a restarting strategy corresponding to the historical operation mode based on the historical operation mode, wherein the restarting strategy indicates that the historical operation mode is maintained or broken after the first domain controller is restarted;
The historical operating mode is determined to be the target operating mode if it is determined that the restart strategy indicates that the vehicle mode is maintained and that the current vehicle state of the target vehicle satisfies a condition for maintaining the historical operating mode.
In an alternative embodiment, the method further comprises:
A default operating mode is determined to be the target operating mode if it is determined that the restart strategy indicates that the vehicle mode is maintained, but the current vehicle state of the target vehicle does not satisfy maintaining the historical operating mode, or if it is determined that the restart strategy does not maintain the vehicle mode.
Therefore, the target operation mode is determined according to the restarting strategies indicated by different historical operation modes, and the applicability of state synchronization is improved.
In an alternative embodiment, the determining the historical operating mode as the target operating mode if it is determined that the restart strategy indicates that the vehicle mode is maintained and the current vehicle state of the target vehicle satisfies a condition for maintaining the historical operating mode includes:
In response to determining that the restart strategy indicates to maintain the vehicle mode as a trailer mode, determining whether an automatic park function indicated by a current vehicle state of the target vehicle is in an operational state, and determining whether a fault indication of the target vehicle is in an operational state;
And in response to the automatic parking function of the target vehicle being in a working state and/or the fault indication of the vehicle being in a working state, determining that the current vehicle state of the target vehicle meets the condition of maintaining the trailer mode, and determining that the trailer mode is a target running mode.
In a second aspect, an optional implementation manner of the present disclosure further provides a vehicle control device, which is applied to a vehicle, where the vehicle includes a plurality of domain controllers, and the domain controllers include a vehicle body domain controller and a plurality of cabin domain controllers, where the plurality of cabin domain controllers are respectively used to control vehicle-mounted devices in respective cabin domains, and the vehicle body domain controller is used to control the vehicle-mounted devices in the vehicle body domain, and the device includes:
The first response module is used for responding to the restarting of a first cabin domain controller in the plurality of cabin domain controllers and acquiring a historical running mode of the vehicle before the restarting of the first cabin domain controller;
A first determining module configured to determine, based on the historical operating mode and the first cabin domain controller, an associated domain controller that is related to the historical operating mode among the plurality of domain controllers;
The system comprises a first cabin domain controller, a synchronization module and a related domain controller, wherein the first cabin domain controller is used for controlling a vehicle-mounted device in the first cabin domain controller or the related domain controller to enter a target running state corresponding to a target running mode after the first cabin domain controller is restarted.
In an alternative embodiment, the synchronization module is configured, when sending a status synchronization instruction to the first cabin domain controller or the associated domain controller, to:
and generating a first state synchronization instruction based on the first state information after restarting the main domain controller, and sending the first state synchronization instruction to the associated domain controller, wherein the first state synchronization instruction is used for controlling the vehicle-mounted equipment in the associated domain controller to enter a target running state corresponding to the target running mode indicated by the first state information.
In an alternative embodiment, the synchronization module, when sending a status synchronization instruction to the first cabin domain controller or the associated domain controller, is configured to:
Generating a second state synchronization instruction based on second state information corresponding to the associated domain controller, and sending the second state synchronization instruction to the subordinate domain controller, wherein the second state synchronization instruction is used for controlling vehicle-mounted equipment in the subordinate domain controller to enter a target running state corresponding to a target running mode indicated by the second state information;
The master domain controller is characterized in that the first cabin domain controller synchronizes the first state information to the associated domain controller, and the slave domain controller is characterized in that the first cabin domain controller acquires the second state information of the associated domain controller.
In an alternative embodiment, the apparatus further comprises a second determining module configured to:
The method comprises the steps of sending restarting information to the associated domain controller, wherein the restarting information is used for determining whether the associated domain controller maintains a historical operation mode or not;
Receiving the second state information sent by the slave domain controller;
The second state information comprises state information of maintaining the history operation mode after the association domain controller determines to maintain the history operation mode;
Or alternatively
The method comprises the step that after the associated domain controller determines that the historical operation mode is not maintained, the associated domain controller exits from the state information after the historical operation mode.
In an alternative embodiment, the apparatus further includes a second response module that determines, in response to a restart of the body domain controller, an associated domain controller that is related to the historical operating mode among the plurality of domain controllers based on the historical operating mode and the body domain controller;
And the state synchronization instruction is used for controlling the vehicle-mounted equipment in the vehicle body domain controller or the associated domain controller to enter a target running state corresponding to a target running mode after the vehicle body domain controller is restarted.
In an alternative embodiment, the apparatus further comprises a selection module for:
Determining a restarting strategy corresponding to the historical operation mode based on the historical operation mode, wherein the restarting strategy indicates that the historical operation mode is maintained or broken after the first domain controller is restarted;
The historical operating mode is determined to be the target operating mode if it is determined that the restart strategy indicates that the vehicle mode is maintained and that the current vehicle state of the target vehicle satisfies a condition for maintaining the historical operating mode.
In an alternative embodiment, the selection module is further configured to:
A default operating mode is determined to be the target operating mode if it is determined that the restart strategy indicates that the vehicle mode is maintained, but the current vehicle state of the target vehicle does not satisfy maintaining the historical operating mode, or if it is determined that the restart strategy does not maintain the vehicle mode.
In an alternative embodiment, the selecting module, when determining that the restart strategy indicates that the vehicle mode is maintained and the current vehicle state of the target vehicle satisfies the condition of maintaining the historical operating mode, is further configured to:
In response to determining that the restart strategy indicates to maintain the vehicle mode as a trailer mode, determining whether an automatic park function indicated by a current vehicle state of the target vehicle is in an operational state, and determining whether a fault indication of the target vehicle is in an operational state;
And in response to the automatic parking function of the target vehicle being in a working state and/or the fault indication of the vehicle being in a working state, determining that the current vehicle state of the target vehicle meets the condition of maintaining the trailer mode, and determining that the trailer mode is a target running mode.
In a third aspect, embodiments of the present disclosure also provide a vehicle comprising as in the first aspect, or any one of the possible vehicle control methods of the first aspect.
In a fourth aspect, an alternative implementation of the present disclosure further provides a computer readable storage medium having stored thereon a computer program which, when executed, performs the steps of the first aspect, or any one of the possible vehicle control methods of the first aspect.
The description of the effects of the vehicle control method, the vehicle, and the storage medium is referred to the description of the vehicle control device, and is not repeated here.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure.
The control architecture of the existing vehicle is that a plurality of domain controllers respectively control different areas of the vehicle, information synchronization is needed to be kept between the different domain controllers so as to avoid system conflict or software and hardware conflict, and when one domain controller is restarted due to faults and the like, the domain controller is forcedly powered off, so that vehicle-mounted equipment under other domain controllers taking the domain controller as a main domain controller is influenced, and further, system conflict or software and hardware conflict is caused, thereby increasing the driving risk of the vehicle. For example, when the trailer mode is on, the cabin controller is restarted. After restarting, the car machine enters a default interface to display that the trailer mode is closed, but at the moment, the electronic hand brake of the chassis domain controller is still in a released state, and the safety risk exists. For another example, the cabin controller is restarted in the play mode, after which the cabin controller displays an exit from the play mode, but the power domain controller door, chassis domain controller brake pedal, etc. remain disabled.
Based on the above study, the disclosure provides a vehicle control method, which can enable the first cabin domain controller to perform state synchronization with the associated domain controller according to the history operation mode when the first cabin domain controller is restarted, so as to avoid system conflict or software and hardware conflict caused by different state information among the domain controllers, and effectively reduce running risk.
For the convenience of understanding the technical solutions of the present disclosure, technical terms in the embodiments of the present disclosure will be described first:
The cabin domain controller (Cockpit Domain Controller, CDC) mainly controls various electronic information system functions in the intelligent cabin of the vehicle, including central control systems, in-vehicle infotainment systems, head up displays, seating systems, instrumentation systems, rearview mirror systems, driving behavior monitoring systems, navigation systems, etc.
The body domain controller (Body Control Module BCM) primarily controls various body functions including, but not limited to, control of headlights, rear lights, interior lights, door locks, windows, sunroofs, wipers, power trunk, smart keys, air conditioning, antennas, gateway communications, and the like.
The power domain controller (Power Domain Controller, PDC) mainly controls the power assembly of the vehicle, optimizes the power performance of the vehicle and ensures the power safety of the vehicle. The functions of the power domain controller include, but are not limited to, engine management, gearbox management, battery management, power distribution management, emissions management, speed limit management, fuel saving and power saving management, and the like.
The chassis domain controller (DYNAMIC CHASSIS Control, DCC) is composed of a transmission system, a traveling system, a steering system and a braking system. The device is mainly used for controlling steering, braking, power transmission, suspension adjustment and the like of the vehicle.
The schemes described in the present specification and embodiments, if related to personal information processing, all perform processing on the premise of having a validity base (for example, obtaining agreement of a personal information body, or being necessary for executing a contract, etc.), and perform processing only within a prescribed or agreed range. The user refuses to process the personal information except the necessary information of the basic function, and the basic function is not influenced by the user.
For the convenience of understanding the present embodiment, a vehicle control apparatus disclosed in the embodiment of the present disclosure will be described in detail first.
Referring to fig. 1, a flowchart of a vehicle control method according to an embodiment of the present disclosure is provided, where the vehicle control method is applied to a vehicle, and the vehicle includes a plurality of domain controllers, where the domain controllers include a vehicle body domain controller and a plurality of cabin domain controllers, where the plurality of cabin domain controllers are respectively used to control vehicle devices in respective cabin domains, and the vehicle body domain controller is used to control vehicle devices in the vehicle body domain, and the method includes the following steps S101 to S103, where:
s101, responding to restarting of a first cabin controller in a plurality of cabin controllers, and acquiring a historical running mode of the vehicle before restarting of the first cabin controller;
Here, the cabin domain controller may also be subdivided into a main driving domain controller, a co-driving domain controller, a rear-row domain controller, etc. according to the cabin layout. The first cabin controller is one of the cabin controllers described above.
When a restart of the first cabin controller occurs, a historical operating mode of the first cabin controller of the vehicle prior to the restart is determined.
Here, the possible reason why the first cabin domain controller is restarted is that the vehicle is restarted due to a hardware failure caused by an impact, a high temperature, a water soaking, etc., or is restarted due to a software failure caused by a system abnormality, a downtime, etc.
The history operation mode is represented as operation state information of the in-vehicle device in the first cabin controller domain before the restart occurs, and the operation state information of the in-vehicle device includes, for example, an operation state, a sleep state, a power-down state, and the like. If the in-vehicle apparatus is a display screen, the operation state information includes, for example, identification information for displaying a history operation mode, and the like.
Following S101, after the history operation mode is acquired, the vehicle control method provided in the present disclosure further includes the following steps.
S102, determining an associated domain controller related to the historical operation mode from the domain controllers based on the historical operation mode and the first cabin domain controller.
Here, the associated domain controller related to the history operation mode may be one or more of the domain controllers in the above example, and the history operation mode may include a plurality of modes including a trailer mode, a game mode, an entertainment mode, a rest mode, a car washing mode, a car unfolding mode, an automatic parking mode, and a steep slope descent mode, where different operation modes need to be implemented by calling in-vehicle devices in different domain controllers, for example, the trailer mode needs to call an electronic parking system of a vehicle, and a locking system, where when in the trailer mode, the electronic parking system included in the chassis domain controller controls the vehicle to be in a released state, and the locking system included in the car domain controller controls the car door to be unable to be locked externally. Thus, if the historical operating mode is a trailer mode, then the associated domain controller associated with the historical operating mode may include a chassis domain controller and a body domain controller.
Following S102, after determining the association domain controller, the method provided by the present disclosure further includes the following steps:
And S103, sending a state synchronization instruction to the first cabin domain controller or the associated domain controller, wherein the state synchronization instruction is used for controlling the first cabin domain controller or the vehicle-mounted equipment in the associated domain controller to enter a target running state corresponding to a target running mode after the first cabin domain controller is restarted.
In some possible embodiments provided by the disclosure, the state synchronization instruction comprises a first state synchronization instruction sent to the associated domain controller, the first cabin domain controller is a main domain controller, the state synchronization instruction sent to the first cabin domain controller or the associated domain controller comprises a first state synchronization instruction generated based on first state information after the main domain controller is restarted and sent to the associated domain controller, and the first state synchronization instruction is used for controlling vehicle-mounted equipment in the associated domain controller to enter a target running state corresponding to a target running mode indicated by the first state information.
Here, the first state synchronization instruction transmitted to the associated domain controller is executed with the first cabin domain controller as the main domain controller. The first state synchronization instruction is generated according to first state information of the first cabin controller, wherein the first state information comprises state information of vehicle-mounted equipment in the restarted first cabin controller. And the first state synchronization instruction generates a control instruction for controlling the vehicle-mounted equipment in the related domain controller to enter a target running state according to the restarted state information of the vehicle-mounted equipment in the first cabin domain controller.
And responding to the first cabin domain controller as a main domain controller, acquiring first state information after restarting the first cabin domain controller, generating a first state synchronization instruction according to the first state information, and sending the first state synchronization instruction to the associated domain controller, wherein the associated domain controller controls the vehicle-mounted equipment in the domain to enter a target running state after receiving the first state synchronization instruction.
In other possible embodiments provided by the present disclosure, the state synchronization instruction includes a second state synchronization instruction sent to the first cabin controller;
The first cabin domain controller is a slave domain controller, the sending of the state synchronization instruction to the first cabin domain controller or the associated domain controller includes generating a second state synchronization instruction based on second state information corresponding to the associated domain controller, and sending the second state synchronization instruction to the slave domain controller, where the second state synchronization instruction is used to control a vehicle-mounted device in the slave domain controller to enter a target running state corresponding to a target running mode indicated by the second state information, and the master domain controller is characterized in that the first cabin domain controller synchronizes the first state information to the associated domain controller, and the slave domain controller is characterized in that the first cabin domain controller acquires the second state information of the associated domain controller.
Here, the second state synchronization instruction transmitted to the first cabin domain controller is executed with the first cabin domain controller as a slave domain controller. The second state synchronization instruction is generated according to second state information of the associated domain controller, wherein the second state information comprises state information of the vehicle-mounted device in the associated domain controller. And the second state synchronization instruction generates a control instruction for controlling the vehicle-mounted equipment in the first cabin domain controller to enter a target running state according to the state information of the vehicle-mounted equipment in the associated domain controller.
And responding to the first cabin domain controller as a slave domain controller, acquiring second state information of the associated domain controller, generating a second state synchronization instruction according to the second state information, and sending the second state synchronization instruction to the first cabin domain controller, wherein the first cabin domain controller controls the vehicle-mounted equipment in the domain to enter a target running state after receiving the second state synchronization instruction.
For example, whether the first cabin domain controller is a master domain controller or a slave domain controller may be determined according to a historical operating mode.
The master domain controller is represented by adjusting state information of other related domain controllers based on the first cabin domain controller so as to synchronize the state information of the first cabin domain controller with the state information of other related domain controllers, and the slave domain controller is represented by adjusting state information of the first cabin domain controller based on the state information of other related domain controllers so as to synchronize the state information of the first cabin domain controller with the state information of other related domain controllers.
Based on the history operation mode, the first cabin domain controller may be determined to be a master domain controller or a slave domain controller, and the history operation mode includes, for example, vehicle mode information displayed on the display module before the first cabin domain controller is restarted, where the vehicle mode information displayed on the display module may be displayed according to a trigger operation of a user on the display module, or may be displayed on the display module according to a voice command, a gesture command, or an operation of the user. From the historical operating modes, it may be determined that the vehicle is in a certain vehicle mode prior to a restart of the first cabin controller.
Here, the display module may be a center control screen, a main driving screen, a co-driving entertainment screen, a rear entertainment screen, or the like of the vehicle.
If the cabin domain controller is subdivided into a main driving domain controller, a co-driving domain controller and a rear-row domain controller according to the above example, then the central control screen and the main driving screen are in-domain vehicle devices of the main driving domain, the co-driving entertainment screen is in-domain vehicle devices of the co-driving domain controller and the rear-row entertainment screen is in-domain vehicle devices of the rear-row domain controller.
The display module displays the vehicle mode screen including thumbnail icon display, page display, and the like.
For example, the user controls the vehicle to enter the trailer mode by clicking on the central control screen, and displays information on the central control screen that the vehicle enters the trailer mode, where the display information may be, for example, a thumbnail icon or a page.
In one possible example, when the user controls the vehicle to enter the trailer mode, the first cabin controller may save the mode, and when the vehicle mode is changed, update the saved vehicle mode according to the changed vehicle mode, so that, when a malfunction restart occurs, the vehicle mode information may be read from the storage unit in which the vehicle mode is saved.
The user controls the vehicle to enter a game mode, an entertainment mode or a rest mode by voice input, and displays display information of the vehicle entering the three modes on the central control screen or displays operation pages of the three modes, wherein the operation pages are displayed on the central control screen when the vehicle enters the game mode, and the song ordering pages are displayed on the central control screen when the vehicle enters the entertainment mode. For example, when the vehicle enters a rest mode, the central control screen reduces the display brightness, the sound plays music, and the atmosphere lamp in the vehicle is turned on. At this time, if the first cabin controller is restarted, the first cabin controller determines that the vehicle is currently in the game mode, the entertainment mode or the rest mode according to the display information of the central control screen before restarting.
Other modes are similar to the above examples, the first cabin controller can determine which operation mode the vehicle is in through the display information of the central control screen or the vehicle operation mode information stored in the storage unit.
In this way, the vehicle mode can be determined from the historical operating mode, and whether the first domain controller belongs to the master domain controller or the slave domain controller can be determined from the difference in the vehicle modes.
The first cabin controller is exemplified as a master domain controller if the vehicle mode is a game mode, an entertainment mode, a resting mode, a vehicle-unfolding mode, etc., and as a slave domain controller if the vehicle mode is a trailer mode, a vehicle-washing mode, an automatic parking mode, a steep descent mode.
Here, in the vehicle mode corresponding to the first cabin domain controller, taking the vehicle mode as the game mode as an example, the other related domain controllers play an auxiliary role or a cooperation role, for example, a switch, a brake, a steering wheel, etc. of the power domain controller are one of control buttons of a target game in the game mode, and when the user turns the steering wheel, the front wheels of the vehicle do not respond to the operation of the user.
In the vehicle mode corresponding to the first cabin domain controller serving as the slave domain controller, taking the vehicle mode as the trailer mode as an example, other related domain controllers play a leading role, the first cabin domain controller plays a role of assisting in displaying operation results, for example, an electronic hand brake of the power domain controller is in a released state, and a gear of the vehicle is in an N gear, and at the moment, a central control screen of the first cabin domain controller displays the operation information.
In addition, in some possible embodiments provided by the present disclosure, the method further includes:
the vehicle body domain controller is restarted, a related domain controller related to the historical operation mode is determined in the plurality of domain controllers based on the historical operation mode and the vehicle body domain controller, a state synchronization instruction is sent to the vehicle body domain controller or the related domain controller, and the state synchronization instruction is used for controlling vehicle-mounted equipment in the vehicle body domain controller or the related domain controller to enter a target operation state corresponding to the target operation mode after the vehicle body domain controller is restarted.
Here, when the vehicle body domain controller is restarted, the synchronization process performed by the vehicle body domain controller is similar to that performed by the cabin domain controller, except that when the vehicle body domain controller is restarted, the cabin domain controller does not need to determine whether the vehicle can maintain the history operation mode when the vehicle body domain controller is taken as the slave domain controller and the history operation mode before the restart is maintained.
Illustratively, the cabin domain controller or the vehicle body domain controller for the restarting party includes the following A1, B1 state synchronization procedure.
A1, restarting the cabin domain controller, determining whether the cabin domain is a master domain controller or a slave domain controller, and if the cabin domain controller is the master domain controller, the vehicle body domain controller is the slave domain controller.
A11, when the cabin domain controller is determined to be the main domain controller, determining whether to maintain the historical operation mode according to the state information of the vehicle.
A111 when the history operation mode is maintained, the cabin controller memorizes the history operation mode of the vehicle and judges whether the vehicle can maintain the vehicle state after restarting. And a first state synchronization instruction generated according to the first state information obtained after the judgment is sent to the vehicle body domain controller.
And A112, if the historical operation mode is not maintained, the cabin domain controller does not memorize the historical operation mode of the vehicle, and after restarting, a first state synchronization instruction is generated according to the restarted first state information and is sent to the vehicle body domain controller.
Each of the above a111 and a112 is a cabin domain controller actively transmitting first status information as a main domain controller.
A12, when the cabin domain is determined to be the slave domain controller, determining whether to maintain the historical operation mode according to the state information of the vehicle.
And A121, if the historical operation mode is maintained, the vehicle body domain controller memorizes the historical operation mode of the vehicle before restarting, and after the cabin domain controller restarts, generates second state information according to the restarted second state information to generate a second state synchronization instruction and sends the second state synchronization instruction to the cabin domain controller.
And A122, if the historical operation mode is not maintained, the vehicle body domain controller does not memorize the historical operation mode of the vehicle before restarting, and after the cabin domain controller restarts, a second state synchronization instruction is generated according to the second state information after restarting and is sent to the cabin domain controller.
Each of the above-mentioned a121 and a122 is a cabin domain controller actively acquiring second state information of a vehicle body domain controller as a slave domain controller.
B1 is restarted aiming at the vehicle body domain controller, and whether the vehicle body domain controller is a master domain controller or a slave domain controller is determined.
B11 is a slave domain controller for the body domain controller, and determines whether to maintain the historical operation mode according to the state information of the vehicle.
And B111, if the historical operation mode is maintained, the cabin domain controller memorizes the historical operation mode of the vehicle, and after restarting, the cabin domain controller is informed of the first state information and synchronizes the first state information to the vehicle body domain controller.
And if the historical operation mode is not maintained, the cabin domain controller does not memorize the historical operation mode of the vehicle, and after restarting, the cabin domain controller is notified, and the cabin domain controller synchronizes the first state information to the vehicle body domain controller.
And B12, determining whether to maintain a historical operation mode according to the state information of the vehicle aiming at the vehicle body domain controller as a main domain controller.
And B121, if the historical operation mode is maintained, the vehicle body domain controller memorizes the historical operation mode of the vehicle before restarting, and after restarting, the vehicle body domain controller is informed of the second state information actively acquired from the vehicle body domain controller by the vehicle body domain.
And if the historical operation mode is not maintained, the vehicle body domain controller does not memorize the historical operation mode of the vehicle before restarting, and after the cabin domain controller restarts, the cabin domain controller is informed of the second state information actively acquired from the vehicle body domain controller.
In some possible embodiments provided by the disclosure, the method further comprises sending restart information to the associated domain controller, wherein the restart information is used for determining whether the associated domain controller maintains a historical operation mode, receiving the second state information sent by the subordinate domain controller, wherein the second state information comprises state information of maintaining the historical operation mode after the associated domain controller determines to maintain the historical operation mode, or state information of exiting the historical operation mode after the associated domain controller determines not to maintain the historical operation mode.
Referring to a flowchart of determining second state information shown in fig. 2, when determining the second state information, the method includes steps S2021 to S2022, where:
s2021, sending restart information to the associated domain controller, wherein the restart information is used for determining whether the associated domain controller maintains a historical operation mode.
The restart information herein means some information generated when the first cabin domain controller is restarted, including, for example, a restart time, a restart reason, etc., and the restart information is transmitted to the associated domain controller, and the associated domain controller determines whether to maintain the vehicle mode based on the restart information.
For example, when the first cabin controller is restarted, if the restart information includes that the restart is caused by battery failure and power failure, the restart time is 4 hours, the restart information is sent to the associated domain controller, and the associated domain controller determines that the restart time is too long according to the restart information, without maintaining the game mode. If the restart information includes that the restart reason is a program bug and the restart time is 30 seconds, the restart information is sent to the associated domain controller, and the associated domain controller judges that the restart time is shorter according to the restart information, so that the game mode can be maintained.
In still another example, taking the example that the state information before restarting the first cabin domain controller indicates that the vehicle is in the trailer mode, when restarting occurs to the first cabin domain controller, if the restarting information includes that the restarting reason is that the program bug is restarted, the restarting time is 5 minutes, during the restarting period, the user actively pulls up the electronic hand brake, the state information of the related domain controller is changed, and the related domain controller judges that the trailer mode is not required to be maintained according to the restarting information and the operation of the user.
S2022, receiving the second state information sent by the slave domain controller, wherein the second state information comprises state information of maintaining the history operation mode after the association domain controller determines to maintain the history operation mode, or state information of exiting the history operation mode after the association domain controller determines not to maintain the history operation mode.
After the associated domain controller determines whether to maintain the vehicle mode, second status information is sent to the first cabin controller. The first cabin domain controller updates the first state information of the first cabin domain controller according to the received second state information, so that the first state information of the first cabin domain controller is synchronous with the second state information of the related cabin domain controller.
In some possible embodiments provided by the disclosure, the method further comprises determining a restarting strategy corresponding to the historical operation mode based on the historical operation mode, wherein the restarting strategy indicates that the historical operation mode is maintained or the historical operation mode is broken after the first domain controller is restarted, and determining the historical operation mode as the target operation mode under the condition that the restarting strategy indicates that the vehicle mode is maintained and the current vehicle state of the target vehicle meets the condition of maintaining the historical operation mode.
Here, referring to a flowchart of determining the first state information shown in fig. 3, the method includes the following steps S3011 to S3014, where:
S3011, determining a restarting strategy corresponding to the historical operation mode based on the historical operation mode, wherein the restarting strategy indicates that the historical operation mode is maintained or broken after the first domain controller is restarted.
Here, the restart policy corresponding to the historical operation mode may be preset, and the restart policy may be changed according to the actual requirement.
For example, if the historical operation mode is a game mode, the corresponding restart policy may be to maintain the historical operation mode before restarting, and when the cabin controller fails to restart, the display information of the central control screen includes a display screen of the vehicle in the game mode.
S3012, determining whether the current vehicle state of the target vehicle meets the functional condition of the history operation mode under the condition that the history operation mode is determined to be maintained.
Here, the different history operation modes also differ in functional condition, and the current vehicle state of the target vehicle is related to the operation state information of the in-domain vehicle-mounted device controlled by the plurality of domain controllers.
For example, when the historical operation mode is the trailer mode, the current vehicle state of the target vehicle is determined, for example, if the trailer mode is to be maintained, an electronic hand brake in a power domain controller of the target vehicle should be in a released state, a gear should be engaged in N gear, a seat occupancy sensor in a cabin domain controller and an in-vehicle camera should detect that a driving position exists. That is, by determining the electronic hand brake and the running state information of the gear of the target vehicle, it is possible to determine whether the current vehicle state of the target vehicle satisfies the functional condition of the trailer mode. When the electronic hand brake is detected to be in a released state, the gear is hung in the N gear, and the user is positioned at the driving position, the current vehicle state of the target vehicle is considered to meet the functional condition of maintaining the trailer mode.
In still another example, when the history operation mode is the game mode, the entertainment mode, or the rest mode, the steering wheel, the electric door, the electronic hand brake, the gear, etc. in the power domain controller of the target vehicle should be in a locked state, the atmosphere lamp, the sound, etc. of the cabin domain controller may be in an on state, and the seat occupancy sensor and the in-vehicle camera should detect that a user exists on at least one seat in the vehicle, that is, by determining the operation state information of the in-vehicle devices such as the steering wheel, the electric door, the electronic hand brake, the gear, etc. of the target vehicle, and the operation state information of the in-vehicle devices such as the atmosphere lamp, the sound, the seat occupancy sensor, the in-vehicle camera, etc., it can be determined whether the current vehicle state of the target vehicle satisfies the functional conditions of the game, the entertainment or the rest mode.
S3013, determining the historical operation mode as the target operation mode if it is determined that the restart strategy indicates that the vehicle mode is maintained and the current vehicle state of the target vehicle satisfies a condition for maintaining the historical operation mode.
Here, when the target vehicle satisfies the functional condition, the state information before the restart of the first cabin domain controller is determined as the first state information after the restart of the first domain controller.
For example, if the state information before restarting the first cabin controller includes that the center screen display vehicle is in the game mode and the atmosphere lamp is turned on, the first state information after restarting the first cabin controller also includes that the center screen display vehicle is in the game mode and the atmosphere lamp is turned on.
S3014, in a case where it is determined that the restart strategy indicates that the vehicle mode is maintained, but the current vehicle state of the target vehicle does not satisfy the history operation mode, or in a case where it is determined that the restart strategy does not maintain the vehicle mode, determining a default operation mode as the target operation mode.
Here, the default operation mode may be a normal driving mode of the vehicle in which the on-vehicle devices of the vehicle each satisfy a normal driving condition, for example, the electronic handbrake is pulled up, the vehicle gear is in P range, the center screen displays the main interface, the door is locked down, and the like. The default operating mode is a mode of operation that the vehicle enters, typically when the user starts the vehicle, as set before the vehicle leaves the factory.
The determination that the history of operation mode is not maintained may be made in accordance with a trigger operation by the user, for example, after the first cabin controller is restarted, a page for which the vehicle mode before the restart is to be restored is displayed on the center screen to ask the user whether to restore the vehicle mode to the vehicle mode before the restart. At this time, the user can refuse the vehicle mode to resume the history running mode before restarting by the trigger operation.
For example, if the status information before restarting the first cabin controller includes that the center screen displays that the vehicle is in the trailer mode, then the first status information after restarting the first cabin controller includes that the vehicle is displayed as a default mode on the center screen when the target vehicle does not meet the functional condition.
Then, after the first state information after the restart of the first cabin domain controller is determined, the first state information is synchronized to the associated domain controllers, wherein the associated domain controllers can be one or a plurality of associated domain controllers. The associated domain controller is controlled by the first domain controller such that the second state information of the associated domain controller remains synchronized with the first state information of the first domain controller.
When the vehicle is in the game mode before restarting the first cabin controller, the electric door in the power domain controller, the brake in the chassis domain controller, the lighting outside the vehicle of the vehicle body domain controller and the like are in a disabled state, and the triggering operation of a user is not responded, at this time, the first cabin controller is restarted, and after restarting, the first cabin controller is restored to the state before restarting according to the restarting strategy corresponding to the game mode, so that the first state information of the first cabin controller is determined to include that the game mode is displayed on the central control screen, and the game page is reentered. And the first state information is sent to the power domain controller, the chassis domain controller, the vehicle body domain controller and other related domain controllers. After the related domain controllers receive the first state information, determining whether electric gates, brakes, outside lighting lights and the like in the domain are in disabled states, if so, maintaining the state unchanged, and if not, changing the running state information of related vehicle-mounted equipment according to a game mode to realize the synchronization with the state information of the first cabin domain control.
In some possible embodiments provided by the present disclosure, the determining the historical operating mode as the target operating mode in the case that the restart strategy indicates that the vehicle mode is maintained and the current vehicle state of the target vehicle meets the condition of maintaining the historical operating mode includes determining whether an automatic parking function indicated by the current vehicle state of the target vehicle is in an operating state and determining whether a fault indication of the target vehicle is in an operating state in response to determining that the restart strategy indicates that the vehicle mode is maintained as a trailer mode, and determining that the current vehicle state of the target vehicle meets the condition of maintaining the trailer mode in response to determining that the automatic parking function of the target vehicle is in an operating state and/or the fault indication of the vehicle is in an operating state.
For example, when the vehicle mode is the trailer mode, practical applications are as follows:
The exit reason is that the cabin domain controller is restarted;
and in the vehicle state after restarting, the cabin domain controller exits from the trailer mode, and the chassis domain controller, the vehicle body domain controller and other related domain controllers are still in the trailer mode.
Referring to fig. 4a, fig. 4a shows an example diagram of a scenario of a vehicle control method before a restart of a cabin controller is performed, the cabin controller includes a steering wheel control system, a button B1 for restarting a vehicle is disposed on a steering wheel of the vehicle, information displayed on a central control screen is that the vehicle is in a trailer mode (a slider B21 indicates that the vehicle is in the trailer mode on the right side of a control B2), a gear of the vehicle is in an N-gear, an electronic hand brake is in a released state (a light color indicates that the electronic hand brake is released), a one-key power-down function is turned off (a dark color indicates that the one-key power-down function is turned off), and a vehicle power-down function is turned off to fail to lock the vehicle, at this time, when a vehicle system is jammed by a fault, a user can restart the vehicle by clicking the button B1. And determining whether the vehicle state after restarting the vehicle machine meets the condition of maintaining the trailer mode or not, and if the brake equipment under the electronic hand brake system included in the chassis domain controller is locked or the locking equipment included in the vehicle body domain controller is in a power-down locking state or the gear is in a P gear in the related domain controller, indicating that the vehicle state after restarting can not meet the condition of maintaining the trailer mode. When the gear of the vehicle is in the N gear and the brake equipment is released and the falling lock equipment is in the non-downable locking state, the condition that the vehicle state meets the condition of maintaining the trailer mode after restarting is indicated.
Referring to fig. 4b, fig. 4b shows an exemplary diagram of a vehicle recovery trailer mode when the vehicle satisfies the condition of maintaining the trailer mode, at this time, the center control screen displays the vehicle recovery trailer mode, the gear of the vehicle is in N gear, the electronic hand brake is in a released state, and the one-key power down function is turned off. And displaying a prompt message for the vehicle to resume the trailer mode.
Referring to fig. 4c, fig. 4c shows an exemplary diagram of a third exemplary scenario of a vehicle control method, where the vehicle does not meet the condition of the trailer mode and changes to the default mode, at this time, the central control screen displays that the vehicle changes to the default mode, the vehicle exits the trailer mode (the slider B21 indicates that the vehicle exits the trailer mode on the left side of the control B2), the gear of the vehicle is in the P gear, the electronic hand brake is in a locked state (the dark color indicates that the electronic hand brake is locked), and the one-key power-down function is turned on (the light color indicates that the one-key power-down function is turned on). And displaying prompt information of changing the default mode of the vehicle.
In addition, the present disclosure also provides some other application scenario examples.
The scenario illustrates a game mode.
The exit reason is that the cabin domain controller is restarted.
And (3) after restarting, the vehicle state that the cabin domain controller exits from the game mode and the vehicle body domain controller is still in the game mode. The steering wheel, the electric door and the brake are in a disabled state, the vehicle body domain controller is also in a game mode, atmosphere lamps in the vehicle are turned on, and the windscreen wiper and the illuminating lamp are turned off.
The result may be that the user gets through the display screen of the cabin controller that the vehicle has exited the game mode at this time, but finds that the steering wheel, electric door, and brake release operations are not available.
According to the above-described scenario, when the cabin controller is restarted, since the cabin controller is the main domain controller at this time, first state information including the exit from the game mode is transmitted to the vehicle body domain controller and the power domain controller, and the vehicle body domain controller and the power domain controller control the starting of the steering wheel, the electric door, the brake, the off-vehicle lighting, the wiper, and the like according to the first state information, and the user can control these in-vehicle devices by the trigger operation.
And a second scene is a vehicle display mode.
The exit reason is that the cabin domain controller is restarted.
The restarted vehicle state is that the display screen of the cabin area controller displays that the vehicle is in a default mode at the moment, but the vehicle body area controller also maintains a vehicle unfolding mode at the moment.
The possible consequences are that the car lights, car windows, air conditioners, windscreen wipers and the like cannot be controlled
According to the scene, when the cabin domain controller is restarted, the cabin domain controller acquires the second state information of the vehicle body domain controller, and the first state information of the cabin domain controller is changed according to the second state information of the vehicle body domain controller, so that the second state information of the vehicle body domain controller is synchronous with the first state information of the cabin domain controller.
Referring to fig. 5, an electrical architecture diagram of a vehicle control method includes a central gateway and a plurality of domain controllers, where the plurality of domain controllers includes a vehicle body domain controller, a cabin domain controller, a chassis domain controller, and a power domain controller, each domain controller further includes a plurality of electronic control units ECU, and the ECU is connected with a vehicle-mounted device to control the vehicle-mounted device, obtain status information of the vehicle-mounted device, and the central gateway is used for transmitting status information of each domain controller, and synchronize status instructions. When one of the domain controllers is restarted, the central gateway is utilized to acquire the state information of the vehicle-mounted equipment in the other domain controllers or send the state information in the domain, after a synchronous state instruction is generated, the synchronous state instruction is synchronized to each domain controller through the central gateway, so that the states of the vehicle-mounted equipment in each domain controller are synchronous, and therefore system conflicts or software and hardware conflicts caused by different state information among the domain controllers are avoided, and the driving risk is effectively reduced.
The description of the process flow of each component in the above method, and the interaction flow between components, is not meant to limit the implementation of the strict process flow and interaction flow, but the process flow of each component, and the interaction flow, should be determined by their functions and possible inherent logic.
Based on the same inventive concept, the embodiments of the present disclosure further provide a vehicle control device corresponding to the vehicle control method, and since the principle of solving the problem by the device in the embodiments of the present disclosure is similar to that of the vehicle control method in the embodiments of the present disclosure, the implementation of the device may refer to the implementation of the method, and the repetition is omitted.
Referring to fig. 6, a schematic structural diagram of a vehicle control device according to an embodiment of the present disclosure is provided, where the vehicle control device is applied to a vehicle, and the vehicle includes a plurality of domain controllers, where the domain controllers include a vehicle body domain controller and a plurality of cabin domain controllers, and the plurality of cabin domain controllers are respectively used to control vehicle-mounted devices in respective cabin domains, and the vehicle body domain controller is used to control vehicle-mounted devices in the vehicle body domain, and the device includes:
a first response module 61, configured to obtain a historical running mode of the vehicle before a restart of a first cabin controller in the plurality of cabin controllers in response to the restart of the first cabin controller;
a first determining module 62, configured to determine, based on the historical operating mode and the first cabin domain controller, an associated domain controller related to the historical operating mode among the plurality of domain controllers;
And the synchronization module 63 is configured to send a state synchronization instruction to the first cabin domain controller or the associated domain controller, where the state synchronization instruction is configured to control the vehicle-mounted device in the first cabin domain controller or the associated domain controller to enter a target running state corresponding to a target running mode after the first cabin domain controller is restarted.
In an alternative embodiment, the synchronization module 63 is configured, when sending a status synchronization instruction to the first cabin domain controller or the associated domain controller, to:
and generating a first state synchronization instruction based on the first state information after restarting the main domain controller, and sending the first state synchronization instruction to the associated domain controller, wherein the first state synchronization instruction is used for controlling the vehicle-mounted equipment in the associated domain controller to enter a target running state corresponding to the target running mode indicated by the first state information.
In an alternative embodiment, the synchronization module 63 is configured, when sending a status synchronization instruction to the first cabin domain controller or the associated domain controller, to:
Generating a second state synchronization instruction based on second state information corresponding to the associated domain controller, and sending the second state synchronization instruction to the subordinate domain controller, wherein the second state synchronization instruction is used for controlling vehicle-mounted equipment in the subordinate domain controller to enter a target running state corresponding to a target running mode indicated by the second state information;
The master domain controller is characterized in that the first cabin domain controller synchronizes the first state information to the associated domain controller, and the slave domain controller is characterized in that the first cabin domain controller acquires the second state information of the associated domain controller.
In an alternative embodiment, the apparatus further comprises a second determining module 65 for:
The method comprises the steps of sending restarting information to the associated domain controller, wherein the restarting information is used for determining whether the associated domain controller maintains a historical operation mode or not;
Receiving the second state information sent by the slave domain controller;
The second state information comprises state information of maintaining the history operation mode after the association domain controller determines to maintain the history operation mode;
Or alternatively
The method comprises the step that after the associated domain controller determines that the historical operation mode is not maintained, the associated domain controller exits from the state information after the historical operation mode.
In an alternative embodiment, the apparatus further includes a second response module 64 that determines, in response to a restart of the body domain controller, an associated domain controller from among the plurality of domain controllers that is related to the historical operating mode based on the historical operating mode and the body domain controller;
And the state synchronization instruction is used for controlling the vehicle-mounted equipment in the vehicle body domain controller or the associated domain controller to enter a target running state corresponding to a target running mode after the vehicle body domain controller is restarted.
In an alternative embodiment, the apparatus further comprises a selection module 66 for:
Determining a restarting strategy corresponding to the historical operation mode based on the historical operation mode, wherein the restarting strategy indicates that the historical operation mode is maintained or broken after the first domain controller is restarted;
The historical operating mode is determined to be the target operating mode if it is determined that the restart strategy indicates that the vehicle mode is maintained and that the current vehicle state of the target vehicle satisfies a condition for maintaining the historical operating mode.
In an alternative embodiment, the selection module 66 is further configured to:
A default operating mode is determined to be the target operating mode if it is determined that the restart strategy indicates that the vehicle mode is maintained, but the current vehicle state of the target vehicle does not satisfy maintaining the historical operating mode, or if it is determined that the restart strategy does not maintain the vehicle mode.
In an alternative embodiment, the selection module 66, when determining that the restart strategy indicates that the vehicle mode is maintained and that the current vehicle state of the target vehicle satisfies the condition for maintaining the historical operating mode, is further configured to:
In response to determining that the restart strategy indicates to maintain the vehicle mode as a trailer mode, determining whether an automatic park function indicated by a current vehicle state of the target vehicle is in an operational state, and determining whether a fault indication of the target vehicle is in an operational state;
And in response to the automatic parking function of the target vehicle being in a working state and/or the fault indication of the vehicle being in a working state, determining that the current vehicle state of the target vehicle meets the condition of maintaining the trailer mode, and determining that the trailer mode is a target running mode.
The embodiment of the disclosure also provides a vehicle, including the vehicle control method or the vehicle control device described in any of the above embodiments of the disclosure.
The disclosed embodiments also provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the vehicle control apparatus described in the method embodiments described above, or performs the steps of the vehicle control method described above, or performs the steps of the vehicle described above. Wherein the storage medium may be a volatile or nonvolatile computer readable storage medium.
The methods in the embodiments of the present disclosure may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions of the present application are performed in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, a network device, a user device, a core network device, an OAM, or other programmable apparatus.
The computer program or instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer program or instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center by wired or wireless 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 integrates one or more available media. The usable medium may be a magnetic medium such as a floppy disk, a hard disk, a magnetic tape, an optical medium such as a digital video disk, or a semiconductor medium such as a solid state disk. The computer readable storage medium may be volatile or nonvolatile storage medium, or may include both volatile and nonvolatile types of storage medium.
It should be noted that the foregoing embodiments are merely specific implementations of the disclosure, and are not intended to limit the scope of the disclosure, and although the disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that any modification, variation or substitution of some of the technical features described in the foregoing embodiments may be made or equivalents may be substituted for those within the scope of the disclosure without departing from the spirit and scope of the technical aspects of the embodiments of the disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.