WO2023230820A1 - Vehicle control method and apparatus - Google Patents

Vehicle control method and apparatus Download PDF

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Publication number
WO2023230820A1
WO2023230820A1 PCT/CN2022/096179 CN2022096179W WO2023230820A1 WO 2023230820 A1 WO2023230820 A1 WO 2023230820A1 CN 2022096179 W CN2022096179 W CN 2022096179W WO 2023230820 A1 WO2023230820 A1 WO 2023230820A1
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WIPO (PCT)
Prior art keywords
state
vehicle
negotiation
request
module
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PCT/CN2022/096179
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French (fr)
Chinese (zh)
Inventor
赵福
胡国杰
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华为技术有限公司
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Priority to PCT/CN2022/096179 priority Critical patent/WO2023230820A1/en
Publication of WO2023230820A1 publication Critical patent/WO2023230820A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles

Definitions

  • the present application relates to the vehicle field, and in particular, to a vehicle control method and device.
  • a signal-based distributed electronic and electrical architecture is currently used to realize vehicle control.
  • the control system on the vehicle is based on the electronic control unit ECU.
  • Each function on the vehicle corresponds to at least one ECU, that is, the hardware and functions are coupled to each other, and the ECU Point-to-point communication with ECUs is based on signals, and different ECUs send signals at different intervals.
  • factors such as the coupling relationship between the functions of each ECU and the complex timing relationship between ECUs need to be considered, resulting in The design of the vehicle status switching scheme is difficult and the functional design is complex.
  • This application discloses a vehicle control method and device, which can reduce the coupling degree between vehicle functions and improve the reliability of vehicle control.
  • this application provides a vehicle control method.
  • the method includes: sending a first negotiation request to a first business module.
  • the first negotiation request is used to consult the first business module whether it agrees to use the vehicle as a vehicle.
  • the state is switched from the first state to the second state; receiving the first negotiation feedback sent by the first service module, where the first negotiation feedback is associated with the first negotiation request.
  • the management module can be, for example, a domain controller on the vehicle or a component within the domain controller on the vehicle, such as a chip, line card or integrated circuit.
  • the domain controller can be, for example, the entire vehicle.
  • Domain controller vehicle domain controller, VDC
  • mobile data center mobile data center, MDC
  • cockpit domain controller cockpit domain controller
  • CDC cockpit domain controller
  • domain controller that integrates VDC functions and MDC functions
  • integrates VDC functions Any one of domain controllers with CDC functions, domain controllers with MDC functions and CDC functions, or domain controllers with VDC functions, MDC functions, and CDC functions.
  • the first service module carries corresponding services, for example, the first service.
  • business can also be called application, function or service.
  • the first service module carries corresponding services, which may include: data corresponding to the corresponding services, and at least one of the processing procedures may be implemented through the first service module.
  • the status of the vehicle can be understood to include: the status or mode that the vehicle presents to the outside world when the user is using the vehicle.
  • the state of the vehicle can be divided into one or more of a waiting state, a driving state, a comfort state, a charging state (for electric vehicles), a parking state, and the like.
  • the waiting state can mean that the vehicle is unlocked but not started
  • the driving state can mean that the vehicle has been started and is driving
  • the comfort state can mean that the air conditioner is turned on while the vehicle is driving
  • the charging state can mean that the vehicle is not unlocked but is currently running.
  • Charging and parking status can indicate that the vehicle is not unlocked.
  • the state of the vehicle can also be called vehicle state, complete vehicle state, vehicle mode or complete vehicle mode, which is not specifically limited here.
  • association of the first negotiation feedback with the first negotiation request can be understood as the first negotiation feedback being a response to the first negotiation request, or as the first negotiation feedback being sent by the first service module based on the first negotiation request.
  • the business module related to the vehicle status switching needs to send negotiation feedback, and the business module itself carries services. That is to say, the business module itself is responsible for implementing corresponding functions, and the functions of different business modules are decoupled from each other. Therefore, through the negotiation feedback sent by the business module, the decomposition of functions related to vehicle status switching is achieved, reducing the cost.
  • the coupling degree between vehicle functions is conducive to reducing the complexity of the vehicle system and improving the stability of the vehicle control.
  • the method further includes: sending a second negotiation request to the second business module, the second negotiation request being used to consult the second business module whether it agrees to change the status of the entire vehicle from the first Switching the state to the second state; receiving a second negotiation feedback sent by the second service module, the second negotiation feedback being associated with the second negotiation request; and sending a message to the first service module and the second negotiation request.
  • the second service module sends a negotiation result, which is obtained based on the first negotiation feedback and the second negotiation feedback.
  • the second business module and the first business module are business modules related to the state change of the vehicle from the first state to the second state.
  • the negotiation result is obtained based on the first negotiation feedback and the second negotiation feedback, which also means that the negotiation result is associated with the first negotiation feedback and the second negotiation feedback.
  • the management module can send negotiation requests to multiple business modules related to the switching of vehicle status to consult each business module whether it agrees to switch the vehicle's status from the first state to the second state, and according to each business module The negotiation feedback of the negotiation request obtains the negotiation result. In this way, coordinated control of whether multiple functionally decoupled business modules perform vehicle status switching is achieved, which effectively reduces the development difficulty of vehicle system design.
  • the method before sending the first negotiation request to the first service module, the method further includes: receiving a state transition request sent by the first service module, where the state transition request is used to request that the vehicle be The state is switched from the first state to the second state, and the first negotiation request is associated with the state transition request.
  • association of the first negotiation request with the state transition request may be understood to mean that the first negotiation request is a response to the state transition request, or it may be understood that the first negotiation request is sent based on the state transition request.
  • the business module that makes the state transition request and the business module that receives the negotiation request can be the same business module. That is, the business module can both make the state transition request and determine whether it agrees to the vehicle state switching based on the negotiation request. In this way, The decoupling of vehicle functions is achieved, effectively reducing the coupling between vehicle functions and reducing the complexity of the vehicle system.
  • the method before sending the first negotiation request to the first service module, the method further includes: receiving a state transition request sent by the second service module, where the state transition request is used to request to change the state of the vehicle. Switching from the first state to the second state, the first negotiation request is associated with the state transition request.
  • the business module that makes the state transition request and the business module that receives the negotiation request can be different business modules. That is to say, when a business module makes a state transition request, the various modules related to the vehicle state switching All business modules will receive the negotiation request sent by the management module, realizing the decomposition of the vehicle status management function into multiple mutually decoupled partners, reducing the complexity of the vehicle system and improving the reliability of vehicle status control.
  • the negotiation result indicates execution Switching of the state of the vehicle; or, in the case where the first negotiation feedback or the second negotiation feedback indicates that the state of the vehicle is not agreed to be switched from the first state to the second state, The negotiation result indicates that switching of the vehicle's status is not to be performed.
  • the negotiation result is jointly determined by the negotiation feedback of at least one business module related to the switching of vehicle status. In this way, coordinated control of whether multiple functionally decoupled business modules perform switching of vehicle status is achieved.
  • the method further includes: sending priority indication information to the first service module, the priority indication information being used to indicate the priority of the second state; the first negotiation feedback and the The first negotiation request is specifically associated with: the first negotiation feedback is associated with the first negotiation request and the priority indication information.
  • the priority indication information may be used to force the service module to agree to switch the vehicle's state from the first state to the second state. That is to say, the first negotiation feedback can be influenced through the priority indication information.
  • the management module is deployed on the first domain controller of the vehicle.
  • the first domain controller can be, for example, a vehicle domain controller (vehicle domain controller, VDC), a mobile data center (mobile data center, MDC), a cockpit domain controller (cockpit domain controller, CDC), or one that integrates VDC functions.
  • VDC vehicle domain controller
  • MDC mobile data center
  • CDC cockpit domain controller
  • the first business module is deployed on the second domain controller of the vehicle. It can be seen that the first business module and management module can be deployed on different domain controllers.
  • the first business module is deployed in a vehicle integrated unit (VIU) of the vehicle. It can be seen that the first business module can also be deployed on the VIU, which increases the diversity of deployment methods of business modules on the vehicle.
  • VIU vehicle integrated unit
  • the first service module is deployed on the first domain controller of the vehicle. It can be seen that the first business module and management module can be deployed on the same domain controller.
  • this application provides a vehicle control method.
  • the method includes: receiving a first negotiation request sent by a management module.
  • the first negotiation request is used to consult the first business module whether it agrees to transfer the vehicle's
  • the state is switched from the first state to the second state; and a first negotiation feedback is sent to the management module based on the first negotiation request.
  • the first business module may be, for example, a component within a domain controller or a component within a VIU.
  • the component may be, for example, a chip, a line card, or an integrated circuit.
  • the domain controller may be, for example, a VDC. , MDC, CDC, domain controller that integrates VDC functions and MDC functions, domain controller that integrates VDC functions and CDC functions, domain controller that integrates MDC functions and CDC functions, and domain controller that integrates VDC functions, MDC functions, and CDC Any kind of functional domain controller.
  • sending the first negotiation feedback to the management module based on the first negotiation request may be understood as the first negotiation feedback being a response to the first negotiation request, or as the first negotiation feedback being associated with the first negotiation request.
  • the business module in response to the received negotiation request, sends negotiation feedback to inform the management mode whether it agrees to switch the vehicle state from the first state to the second state, thereby realizing the decomposition of functions related to the vehicle state switching. , reducing the coupling degree between vehicle functions, which is beneficial to reducing the complexity of the vehicle system and improving the stability of the vehicle control.
  • the method before receiving the first negotiation request sent by the management module, the method further includes: sending a state transition request to the management module, where the state transition request is used to request that the state of the vehicle be changed from the state to the state of the vehicle.
  • the first state is switched to the second state.
  • the first negotiation request is associated with the state transition request.
  • the business module can be both the proposer of the state transition request and the recipient of the negotiation request. In this way, the decoupling of vehicle functions is achieved, effectively reducing the coupling between vehicle functions and reducing the cost of the vehicle. System complexity.
  • the method further includes: judging according to the first negotiation request whether the status of the vehicle parts corresponding to the first business module satisfies the status of the vehicle to switch from the first status to the second Status required to obtain the first negotiation feedback.
  • the method further includes: receiving priority indication information sent by the management module, the priority indication information being used to indicate the priority of the second state;
  • the management module sending the first negotiation feedback includes: sending the first negotiation feedback to the management module based on the first negotiation request and the priority indication information.
  • the priority of the second state indicates the urgency or urgency of the event of switching to the second state. The higher the priority of the second state, the more urgent the event of switching to the second state.
  • the first negotiation feedback is associated with the first negotiation request and the priority indication information, and the priority indication information can affect the first negotiation result.
  • the method further includes: obtaining the first negotiation feedback according to the first negotiation request and the priority indication information.
  • the first negotiation result is jointly determined by the first negotiation request and the priority indication information, and the priority indication information may affect the first negotiation result.
  • the first negotiation feedback indicates agreement to change the state of the vehicle. Switch from the first state to the second state.
  • the priority indication information can be used to force The business module agrees to switch the vehicle's status from the first state to the second state. In this way, when the switch to the second state is urgent, the priority indication information can be used to affect the corresponding negotiation feedback of the relevant business modules, thereby realizing the status of the entire vehicle. control.
  • the method further includes: receiving a negotiation result sent by the management module, where the negotiation result is obtained based on the first negotiation feedback; when the negotiation result indicates that the state of the vehicle is switched, , switching the state of the vehicle from the first state to the second state.
  • the business module can switch the vehicle status based on the negotiation results sent by the management module.
  • the management module is deployed on the first domain controller of the vehicle.
  • the first business module is deployed on the second domain controller of the vehicle.
  • the first service module is deployed in the vehicle integration unit VIU of the vehicle.
  • the first service module is deployed on the first domain controller of the vehicle.
  • the present application provides a device for vehicle control.
  • the device includes a sending unit and a receiving unit, wherein the sending unit is used to send a first negotiation request to a first service module, and the third A negotiation request is used to consult the first business module whether it agrees to switch the state of the vehicle from the first state to the second state; the receiving unit is used to receive the first negotiation feedback sent by the first business module, the A first negotiation feedback is associated with the first negotiation request.
  • the sending unit is further configured to: send a second negotiation request to the second business module, where the second negotiation request is used to consult the second business module whether it agrees to change the status of the entire vehicle by the The first state is switched to the second state;
  • the receiving unit is further configured to: receive a second negotiation feedback sent by the second service module, where the second negotiation feedback is associated with the second negotiation request;
  • the sending unit is further configured to: send a negotiation result to the first service module and the second service module, where the negotiation result is obtained based on the first negotiation feedback and the second negotiation feedback.
  • the receiving unit is further configured to: receive a state transition request sent by the first service module, where the state transition request is used to request to switch the state of the vehicle from the first state to the third state.
  • the first negotiation request is associated with the state transition request.
  • the receiving unit is also configured to: receive a state transition request sent by the second service module, where the state transition request is used to request to switch the state of the vehicle from the first state to the second state.
  • the first negotiation request is associated with the state transition request.
  • the negotiation result indicates execution Switching of the state of the vehicle; or, in the case where the first negotiation feedback or the second negotiation feedback indicates that the state of the vehicle is not agreed to be switched from the first state to the second state, The negotiation result indicates that switching of the vehicle's status is not to be performed.
  • the sending unit is further configured to: send priority indication information to the first service module, where the priority indication information is used to indicate the priority of the second state; the first negotiation feedback and The association of the first negotiation request is specifically: the first negotiation feedback is associated with the first negotiation request and the priority indication information.
  • the management module is deployed on the first domain controller of the vehicle.
  • the first business module is deployed on the second domain controller of the vehicle.
  • the first service module is deployed in the vehicle integration unit VIU of the vehicle.
  • the first service module is deployed on the first domain controller of the vehicle.
  • this application provides a device for vehicle control.
  • the device includes a receiving unit and a sending unit, wherein the receiving unit is used to receive the first negotiation request sent by the management module, and the first negotiation request is sent by the management module.
  • the negotiation request is used to consult the first service module whether it agrees to switch the state of the vehicle from the first state to the second state; the sending unit is used to send a first negotiation feedback to the management module based on the first negotiation request. .
  • the sending unit is further configured to: send a state transition request to the management module, where the state transition request is used to request to switch the state of the vehicle from the first state to the second state.
  • the device further includes a processing unit configured to determine whether the status of the vehicle parts corresponding to the first business module satisfies the status of the vehicle according to the first negotiation request. Conditions required for switching the first state to the second state and obtaining the first negotiation feedback.
  • the receiving unit is further configured to: receive priority indication information sent by the management module, the priority indication information indicating the priority of the second state; the sending unit is specifically configured to: based on the The first negotiation request and the priority indication information are used to send the first negotiation feedback to the management module.
  • the processing unit is further configured to: obtain the first negotiation feedback according to the first negotiation request and the priority indication information.
  • the first negotiation feedback indicates agreement to change the state of the vehicle. Switch from the first state to the second state.
  • the receiving unit is also configured to: receive the negotiation result sent by the management module, where the negotiation result is obtained based on the first negotiation feedback; the processing unit is also configured to: when the negotiation result indicates When switching the state of the vehicle, the state of the vehicle is switched from the first state to the second state.
  • the management module is deployed on the first domain controller of the vehicle.
  • the first business module is deployed on the second domain controller of the vehicle.
  • the first service module is deployed in the vehicle integration unit VIU of the vehicle.
  • the first service module is deployed on the first domain controller of the vehicle.
  • the present application provides a computer-readable storage medium, including computer instructions.
  • the computer instructions When the computer instructions are executed by a processor, the above-mentioned first aspect or any possible implementation of the first aspect is implemented. method.
  • the present application provides a computer-readable storage medium, including computer instructions.
  • the computer instructions are executed by a processor, the above-mentioned second aspect or any possible implementation of the second aspect is implemented. method.
  • the present application provides a computer program product.
  • the computer program product When the computer program product is executed by a processor, the method in the above-mentioned first aspect or any possible embodiment of the first aspect is implemented.
  • the computer program product for example, can be a software installation package. If it is necessary to use the method provided by any of the possible designs of the first aspect, the computer program product can be downloaded and executed on the processor. , to implement the method in the first aspect or any possible embodiment of the first aspect.
  • the present application provides a computer program product that, when executed by a processor, implements the method in the above second aspect or any possible embodiment of the second aspect.
  • the computer program product for example, can be a software installation package. If it is necessary to use the method provided by any of the possible designs of the second aspect above, the computer program product can be downloaded and executed on the processor. , to implement the method in the second aspect or any possible embodiment of the second aspect.
  • the present application provides a chip that includes at least one processor and a communication interface, and the communication interface is used to provide information input and/or output for the at least one processor.
  • the chip is used to implement the method in the first aspect or any possible embodiment of the first aspect.
  • the present application provides a chip that includes at least one processor and a communication interface, and the communication interface is used to provide information input and/or output for the at least one processor.
  • the chip is used to implement the method in the second aspect or any possible embodiment of the second aspect.
  • the present application provides a vehicle, which includes the devices of the third aspect and the fourth aspect, or the vehicle includes the device of any possible implementation of the third aspect and the third aspect. Any possible implementation of the fifth aspect, or the vehicle includes the chips of the ninth and tenth aspects.
  • Figure 1 is a schematic diagram of a vehicle control scenario provided by an embodiment of the present application.
  • FIG. 2 is a schematic diagram of a vehicle system architecture provided by an embodiment of the present application.
  • Figure 3 is a schematic diagram of functional deployment on a vehicle provided by an embodiment of the present application.
  • Figure 4 is a schematic diagram of yet another functional deployment on a vehicle provided by an embodiment of the present application.
  • Figure 5 is a schematic diagram of functional deployment on a vehicle provided by an embodiment of the present application.
  • Figure 6 is a schematic flow chart of yet another vehicle control method provided by an embodiment of the present application.
  • Figure 7 is a schematic structural diagram of a communication device provided by this embodiment of the present application.
  • Figure 8 is a schematic structural diagram of a communication device provided by this embodiment of the present application.
  • Figure 9 is a schematic structural diagram of a communication device provided by this embodiment of the present application.
  • the prefixes such as “first” and “second” are used in this application only to distinguish different description objects, and there are no restrictions on the position, order, priority, quantity or content of the described objects. effect.
  • the described object is a "business module”
  • the ordinal words before “business module” in the “first business module” and “second business module” do not limit the position or order between the "business modules”.
  • the described object is "level”
  • the ordinal words before "level” in “first level” and “second level” do not limit the priority between “levels”.
  • the number of described objects is not limited by the prefix, and can be one or more.
  • the number of “devices” can be one or more.
  • the objects modified by different prefixes can be the same or different.
  • the described object is “device”
  • the “first device” and the “second device” can be the same device, the same type of device, or different types of devices.
  • the described object is “information”
  • the “first information” and the “second information” may be information with the same content or information with different contents.
  • the use of prefixes used to distinguish the described objects in the embodiments of this application does not constitute a limitation on the described objects.
  • the description of the described objects please refer to the claims or the context description in the embodiments. The use of such words should not be used. Prefix words constitute redundant restrictions.
  • references such as "at least one (or at least one) of a1, a2, ... and an” are used, including any one of a1, a2, ... and an.
  • the situation that exists alone also includes any combination of any number of a1, a2,... and an.
  • Each situation can exist alone.
  • the description of "at least one of a, b, and c" includes a alone, b alone, c alone, a combination of a and b, a combination of a and c, a combination of b and c, or a combination of abc. Condition.
  • Figure 1 is a schematic diagram of a vehicle control scenario provided by an embodiment of the present application.
  • Figure 1 shows a schematic diagram of vehicle control based on traditional electronic and electrical architecture.
  • the vehicle control unit (VCU) electronic control units ECU1 and ECU2 in the vehicle access the gateway through the controller area network (CAN) bus 1
  • the body control module (bodycontrolmodule, BCM) bodycontrolmodule, BCM
  • ECU3 and ECU4 are connected to the gateway through CAN bus 2.
  • Signals from ECUs on different buses can be forwarded through the gateway to achieve communication.
  • the BCM has a status management function, that is, the BCM performs unified status management of the vehicle status.
  • the BCM detects a change in the signal of ECU1 based on the signal sent by ECU1 (for example, the user key changes from the ON position to the Start position).
  • the BCM also obtains the information related to this time through the gateway and communication bus.
  • the signals sent by the target devices for example, VCU, ECU1, ECU2 and ECU3 related to the state switching (for example, switching from the waiting state to the driving state), and respectively determine whether each signal meets the conditions required for the state switching and is related to the state.
  • Conditions related to the signal itself such as whether the gear is in P or N, whether the brake pedal is stepped on, whether the battery power is greater than the preset power threshold, whether the charging wake-up signal has not been awakened, etc., after confirming that each signal meets the requirements
  • the BCM issues a signal to perform the state switch.
  • embodiments of the present application propose a vehicle control method that can realize the decoupling of various functions related to vehicle state switching, reduce the complexity of vehicle state switching scheme design, and improve the reliability of vehicle control.
  • FIG 2 is an architecture diagram of a vehicle-mounted communication system provided by an embodiment of the present application. This system is used to achieve vehicle control, for example, vehicle status switching. As shown in Figure 2, the system includes at least one domain controller (DC) and at least one vehicle integrated unit (VIU). Among them, DC and VIU and VIU and VIU are connected through The high-speed Ethernet network connects and communicates, making the vehicle network highly efficient and reliable.
  • DC domain controller
  • VIU vehicle integrated unit
  • Each functional domain in the vehicle can have its own domain controller.
  • at least one domain controller includes a vehicle domain controller (VDC), a mobile data center (MDC), and a cockpit domain controller (CDC).
  • VDC vehicle domain controller
  • MDC mobile data center
  • CDC cockpit domain controller
  • the MDC may also be called an advanced driving assistance system domain controller (ADAS DC) or an automatic driving domain controller (automatic drive domain controller, AD DC).
  • ADAS DC advanced driving assistance system domain controller
  • AD DC automatic driving domain controller
  • VDC is used to provide services for vehicle parts in the body domain and vehicle parts in the chassis domain.
  • vehicle parts in the body domain include door and window lift controllers, electric rearview mirrors, air conditioners, central door locks, etc.; in the chassis domain
  • Vehicle parts include vehicle parts in the braking system, vehicle parts in the steering system, and vehicle parts in the acceleration system, such as throttles, etc.
  • MDC is used to provide services for vehicle parts that realize automatic driving functions.
  • vehicle parts that realize automatic driving functions include monocular cameras, binocular cameras, millimeter wave radar, lidar, ultrasonic radar, etc.
  • CDC is used to provide services for vehicle parts in the cockpit domain.
  • vehicle parts in the cockpit domain include head-up display (HUD), instrument display, radio, navigation, camera, etc.
  • HUD head-up display
  • instrument display radio
  • navigation camera
  • camera etc.
  • the vehicle integrated unit VIU is used to manage the electronic control unit (ECU) in the area.
  • the VIU can be connected to the corresponding sensors, actuators or ECUs nearby to realize the isolation of power supply, electronic fuses and I/O ports. and other functions.
  • VIU has some or all of the functions of a gateway, such as protocol conversion function, protocol encapsulation and forwarding function, and data format conversion function.
  • VIU integrates the ECU functions in some vehicle parts
  • VIU also has electronic control functions to control the corresponding vehicle parts.
  • VIU also has the function of processing data across vehicle components, that is, it can perform calculations on data obtained from actuators of multiple vehicle components, etc. It can be understood that in Figure 2, VDC can access VIU2 and VIU4 through VIU1, and VDC can also access sensors, actuators or ECUs connected to VIU1 through VIU1.
  • multiple logical functions among the above-mentioned VDC, MDC and CDC can also be integrated.
  • Another example is to retain the MDC and only integrate the VDC and CDC to obtain a domain controller that can provide body control functions and cockpit control functions.
  • Another example is to retain the CDC and only integrate the VDC and MDC to obtain a domain controller that can provide body control functions and automatic driving control functions.
  • VDC, MDC, and CDC are integrated to obtain a domain controller that can provide body control functions, autonomous driving control functions, and cockpit control functions.
  • the domain controller can also be called a central computing unit. .
  • the vehicle communication system shown in Figure 2 can be applied to autonomous vehicles, traditional vehicles or new energy vehicles.
  • the traditional vehicle refers to a fuel vehicle, such as a gasoline vehicle, a diesel vehicle, etc.
  • the new energy vehicle can be an electric vehicle, for example.
  • Vehicle electric vehicle, EV), hybrid electric vehicle (HEV), range extended electric vehicle (range extended EV), plug-in hybrid vehicle (plug-in HEV), fuel cell vehicle or other new energy vehicle etc., no specific limitation is made here.
  • Figure 2 is only an exemplary architecture diagram, but does not limit the number of network elements included in the system shown in Figure 2 . Although not shown in Figure 2, in addition to the functional entities shown in Figure 2, Figure 2 may also include other functional entities.
  • the method provided by the embodiment of the present application can be applied to the communication system shown in Figure 2. Of course, the method provided by the embodiment of the present application can also be applied to other communication systems, which is not limited by the embodiment of the present application.
  • FIG 3 is a schematic diagram of functional deployment on a vehicle provided by an embodiment of the present application.
  • the management module can be deployed on a software and hardware integrated platform used to support intelligent driving, that is, a vehicle computing platform (vehicle computing platform), such as a mobile data center (mobile data center) , MDC), where the management module has a status management function, and multiple business modules related to vehicle status switching can be deployed on multiple domain controllers.
  • vehicle computing platform vehicle computing platform
  • MDC mobile data center
  • the management module has a status management function
  • multiple business modules related to vehicle status switching can be deployed on multiple domain controllers.
  • the business module 21 and the business module 22 can be deployed on multiple domain controllers.
  • the business module 21 and the business module 22 are used to provide vehicle components in the body domain and chassis domain Provide services for vehicle parts.
  • the business module 21 can provide services for air conditioners, for example, and the business module 22 can provide services for gear sensors, for example; the business module 23 and the business module 24 can be deployed on the software used to support intelligent driving.
  • the hardware integration platform is a vehicle computing platform, such as an MDC.
  • the business module 23 and the business module 24 are used to provide services for vehicle components that implement autonomous driving functions.
  • the business module 23 can be To provide services for monocular cameras, the business module 24 can, for example, provide services for lidar; the business module 25 can be deployed in a vehicle for providing at least one of in-vehicle multimedia services (for example, head-up display, instrument panel display, entertainment audio and video, etc.)
  • the business module 25 is used to provide services for vehicle parts in the cockpit domain.
  • the business module 25 can provide services for instrument displays. Serve.
  • the business module on the domain controller detects that the status of its corresponding vehicle parts has changed, the business module initiates a status transition request to the management module.
  • the management module based on its own status management function Implement negotiation control over whether multiple service modules associated with the state switch on each domain controller perform the state switch. For the specific negotiation process, please refer to the description of the embodiment in Figure 6 below, which will not be described again here.
  • the function deployment diagram shown in Figure 3 is just an example.
  • the management module may not be deployed on the MDC, or the management module may be deployed only on the VDC or CDC, which is not specifically limited in the embodiments of this application.
  • Figure 4 is a schematic diagram of yet another functional deployment on a vehicle provided by an embodiment of the present application. Compared with the functional deployment diagram on the vehicle shown in Figure 3, the multiple business modules related to vehicle status switching in Figure 4 can not only be deployed on multiple domain controllers, but also deployed on at least one entire vehicle. On the integrated unit VIU.
  • the management module is only deployed on the integrated software and hardware platform used to support intelligent driving, that is, the vehicle-mounted computing platform, such as the mobile data center MDC.
  • Business modules related to vehicle status switching can be deployed on domain controllers. and the vehicle integration unit.
  • the business module 21 can be deployed on a software and hardware integration platform used to support body control and chassis control, such as the vehicle domain controller VDC.
  • the business module 22 and the business module 23 can be deployed on A software and hardware integrated platform used to support intelligent driving, such as a mobile data center MDC, the business module 24 can be deployed on a software and hardware integrated platform used to provide in-vehicle multimedia services, such as a cockpit domain controller CDC, and the business module 25 is deployed on On the vehicle integration unit, when the vehicle integration unit integrates the ECU functions in some vehicle components, the business module 25 has the function of controlling the vehicle components that have been connected to the vehicle integration unit.
  • the management module business module 21, business module 22, business module 23, and business module 24, please refer to the description of the corresponding contents in the embodiment of FIG. 3, and will not be described again here.
  • the business module on the domain controller or the business module on the vehicle integration unit detects that the status of its corresponding vehicle parts has changed, the business module initiates a state transition request to the management module.
  • the management module implements negotiation control over whether multiple service modules associated with the state switch execute the state switch based on its own state management function.
  • negotiation process please refer to the description of the embodiment in Figure 6 below for details, which will not be discussed here. Again.
  • the functional deployment diagram shown in Figure 4 is just an example.
  • the management module may not be deployed on the MDC, and the management module may be deployed only on the VDC or CDC.
  • multiple business modules related to vehicle status switching may also be deployed only on multiple vehicle integration units, which are not specifically limited in the embodiments of this application.
  • FIG 5 is a schematic diagram of yet another functional deployment on a vehicle provided by an embodiment of the present application.
  • the management module can be deployed on a software and hardware integrated platform used to support intelligent driving, body control, and chassis control, such as the domain controller that integrates VDC functions and MDC functions as shown in Figure 5, and the vehicle status Multiple business modules related to switching are distributed and deployed on multiple controllers shown in Figure 5.
  • the business module 21, the business module 22, the business module 23, and the business module 24 can be deployed on the controller to support intelligent driving, vehicle body, etc.
  • a software and hardware integrated platform for control and chassis control such as the domain controller that integrates VDC functions and MDC functions as shown in Figure 5.
  • the business module 25 can be deployed on a software and hardware integrated platform for providing in-vehicle multimedia services, such as on the CDC.
  • the management module, business module 21, business module 22, business module 23, business module 24 and business module 25 please refer to the description of the corresponding content in the embodiment of Figure 3.
  • the negotiation and interaction process between the management module and at least one business module Reference may be made to the relevant descriptions in the embodiment of FIG. 6 below, which will not be described again here.
  • the management module may not be deployed on a domain controller that integrates VDC functions and MDC functions, but may be deployed on a CDC.
  • the domain controller shown in Figure 5 can also be integrated in other ways.
  • the domain controller in Figure 5 includes domain controllers and MDCs that integrate VDC functions and CDC functions.
  • the management module can be deployed on any one of the domain controllers.
  • the domain controller in Figure 5 includes domain controllers and VDCs that integrate MDC functions and CDC functions.
  • the management module can be deployed on any one of the domain controllers.
  • the domain controller in Figure 5 is only a domain controller that integrates VDC functions, MDC functions, and CDC functions. In this case, the management module is deployed on the domain controller.
  • the number of management modules is only one, that is, the diagrams shown in Figures 3 to 5 are centralized function deployment diagrams. In some possible embodiments, the number of management modules may also be multiple. For example, one management module is deployed on each domain control. In this case, the management module is only used to coordinate and manage the domain control where the management module is located.
  • the various business modules on the controller negotiate whether to switch the vehicle status. The negotiation process between the management module and each business module can be referred to the following description of the embodiment in Figure 6 and will not be described again here.
  • Figure 6 is a flow chart of a vehicle control method provided by an embodiment of the present application, which is applied to a communication system composed of a management module and at least one business module.
  • the method includes but is not limited to the following steps:
  • S601 The management module sends a negotiation request.
  • the management module sends a negotiation request to at least one business module.
  • the negotiation request is used to consult the business module whether it agrees to switch the vehicle's state from the first state to the second state.
  • the status of the vehicle can be understood to include: the status or mode that the vehicle presents to the outside world when the user is using the vehicle.
  • the state of the vehicle can be divided into one or more of a waiting state, a driving state, a comfort state, a charging state (for electric vehicles), a parking state, and the like.
  • the waiting state can mean that the vehicle is unlocked but not started
  • the driving state can mean that the vehicle has been started and is driving
  • the comfort state can mean that the air conditioner is turned on while the vehicle is driving
  • the charging state can mean that the vehicle is not unlocked but is currently running.
  • Charging and parking status can indicate that the vehicle is not unlocked.
  • the state of the vehicle may also be called vehicle state, complete vehicle state, vehicle mode or complete vehicle mode, which is not specifically limited here.
  • switching from the first state to the second state may be switching from the waiting state to the driving state, from the driving state to the comfort state, from the comfort state to the driving state, from the driving state to the parking state, from Switching from the comfort state to the parking state, switching from the parking state to the charging state, etc. It can be understood that this is only an example of switching the vehicle state, and the embodiment of the present application does not limit the switching of the vehicle state to the above-mentioned example.
  • the above-mentioned at least one service module can be understood as a service module related to the vehicle state switching from the first state to the second state.
  • Each service module in the at least one service module carries a corresponding service.
  • a business can also be called an application, function, or service.
  • the first service module carries corresponding services, which may include: data corresponding to the corresponding services, and at least one of the processing procedures may be implemented through the first service module.
  • at least one service module includes n service modules including service module 21, service module 22, ..., and service module 2n in Figure 6, where n is an integer greater than or equal to 1.
  • the business modules related to the vehicle's status switching from the waiting state to the driving state include but are not limited to: modules for carrying gear monitoring services, Modules used to carry the brake pedal pedal monitoring business, modules used to carry the battery power monitoring business, modules used to carry the charging port monitoring business, etc.
  • the management module may also send priority indication information to the above-mentioned at least one service module, where the priority indication information is used to indicate the priority of the second state.
  • the priority of the second state indicates the urgency or urgency of the event of switching to the second state. The higher the priority of the second state, the more urgent the event of switching to the second state.
  • the priority indication information can be used to force the business module to agree to switch the vehicle's state from the first state to the second state. For details, refer to the relevant description in S602 below.
  • the priority indication information may indicate the priority of the second state through identification, bit mapping, or binary value.
  • Table 1 which exemplarily provides a mapping table between priority values and priorities of the second state. It can be seen from Table 1 that when the priority value is the first value, the priority of the second state is level one; when the priority value is the second value, the priority of the second state is level two; when the priority value is When the value is the third value, the priority of the second state is level three. For example, the first value is greater than the second value, the second value is greater than the third value, level one is higher than level two, and level two is higher than level three.
  • the management module sends a negotiation request to at least one service module in a multicast manner.
  • each service module that receives the negotiation request can determine whether it agrees to switch the vehicle's state from the first state to the second state based on the negotiation request.
  • the management module sends a negotiation request to each service module in at least one service module in a unicast manner. For example, the management module sends negotiation request 1 to the business module 21, the management module sends negotiation request 2 to the business module 22, ..., the management module sends negotiation request n to the business module 2n, where the negotiation request 1 is used to consult the business module 21 whether to agree. To switch the state of the vehicle from the first state to the second state, the negotiation request 2 is used to consult the business module 22 whether it agrees to switch the state of the vehicle from the first state to the second state, and the negotiation request n is used to consult the business module 2n whether it agrees. Switch the state of the vehicle from the first state to the second state.
  • the management module may also send a negotiation request in a broadcast manner, and the business module that receives the negotiation request not only includes at least one of the above business modules, but may also switch the state of the vehicle from the first state to the third state.
  • the service module has nothing to do with the two states. In this case, the service module that has nothing to do with the vehicle's state switching from the first state to the second state can ignore the negotiation request, that is, not respond to the negotiation request.
  • the management module sends a negotiation request, including: the management module receives a state transition request sent by a target business module, the target business module is included in at least one of the above business modules, and the state transition request is used to request to change the vehicle's status. Switch from the first state to the second state; in response to the state transition request, the management module sends a negotiation request. In other words, there are trigger conditions for the management module to send a negotiation request.
  • S600 may also be executed.
  • the target business module takes business module 21 as an example:
  • the business module 21 sends a state transition request to the management module.
  • the state transition request is used to request to switch the state of the vehicle from the first state to the second state.
  • the management module receives the state transition request sent by the business module 21.
  • the management module sends a negotiation request, specifically: in response to the state transition request, the management module sends a negotiation request. That is to say, the negotiation request is associated with the state transition request, or the negotiation request is sent by the management module based on the state transition request.
  • the business module 21 sends a state transition request to the management module, which includes: when the business module 21 detects a change in the state of its corresponding vehicle component, the business module 21 sends a state transition request to the management module.
  • the vehicle component corresponding to the business module 21 is the brake pedal, that is, the business module carries the brake pedal depression monitoring service, and the business module 21 detects that the status of the brake pedal changes, for example, from not being stepped on to being stepped on. , in this case, the business module 21 can send a state transition request to the management module.
  • At least one business module sends negotiation feedback to the management module.
  • the negotiation feedback is used to indicate whether the service module agrees to switch the vehicle's state from the first state to the second state.
  • At least one business module sends negotiation feedback to the management module, including: the business module 21 sends negotiation feedback 1 to the management module, the business module 22 sends negotiation feedback 2 to the management module, ..., and the business module 2n sends negotiation feedback n to the management module.
  • the negotiation feedback 1 is used to indicate whether the service module 21 agrees to switch the vehicle's state from the first state to the second state
  • the negotiation feedback 2 is used to indicate whether the service module 22 agrees to switch the vehicle's state from the first state to the second state.
  • the negotiation feedback n is used to indicate whether the service module 2n agrees to switch the vehicle's state from the first state to the second state.
  • the negotiation feedback corresponding to the business module is associated with the negotiation request received by the business module. Specifically, after the above-mentioned at least one business module receives a negotiation request from the management module, each of the above-mentioned at least one business modules determines based on the negotiation request whether the status of its corresponding vehicle parts satisfies the status of the vehicle determined by the first Conditions required to switch the state to the second state and obtain negotiation feedback corresponding to the business module.
  • the corresponding negotiation feedback indication of the business module agrees to change the vehicle's status from the first state to the second state.
  • One state switches to the second state; when the business module determines that the state of its corresponding vehicle parts does not meet the conditions required for the vehicle's state to switch from the first state to the second state, the corresponding negotiation feedback indication of the business module does not agree. Switch the state of the vehicle from the first state to the second state.
  • business module 21 and business module 22 as an example to illustrate the process of the business module obtaining negotiation feedback: Assume that the first state is the waiting state, the second state is the driving state, the business module 21 is a module that carries the brake pedal monitoring service, and the business module 22 is a module that carries the battery power monitoring service.
  • the process for the service module 21 to obtain negotiation feedback 1 can refer to the following situation 1
  • the process for the service module 22 to obtain the negotiation feedback 2 can refer to the following situation 2.
  • the business module 21 determines whether the status of its corresponding vehicle parts meets the conditions required for the vehicle's status to switch from the first state to the second state.
  • Obtaining negotiation feedback 1 means: the business module 21 determines whether the brake pedal is currently stepped on, Obtain negotiation feedback 1. Specifically, if it is determined that the brake pedal is currently stepped on, then negotiation feedback 1 instructs the business module 21 to agree to switch the vehicle's state from the waiting state to the driving state; if it is determined that the brake pedal is currently not stepped on, then negotiation feedback 1 indicates that the business module 21 does not agree to switch the vehicle's status from the waiting state to the driving state.
  • the business module 22 determines whether the status of its corresponding vehicle parts meets the conditions required for the vehicle's status to switch from the first state to the second state.
  • Obtaining the negotiation feedback 2 means: the business module 22 determines whether the battery power is not less than the preset value. The power threshold is obtained, and negotiation feedback 2 is obtained. Specifically, if it is determined that the power of the battery is not less than the preset power threshold, negotiation feedback 2 instructs the business module 22 to agree to switch the vehicle's status from the standby state to the driving state; if it is determined that the power of the battery is not less than the preset power threshold, is less than the preset power threshold, the negotiation feedback 2 indicates that the service module 22 does not agree to switch the vehicle's status from the waiting state to the driving state.
  • the judgment condition corresponding to the business module 21 is whether the brake pedal is currently stepped on
  • the judgment condition corresponding to the business module 22 is whether the battery is.
  • the power is not less than the preset power threshold, that is to say, when the business module obtains negotiation feedback, it only needs to pay attention to the conditions required for vehicle status switching related to itself, realizing the decomposition of functions related to status control and reducing the cost of each business module.
  • the coupling between functions reduces the complexity of the entire vehicle system.
  • the business module also receives the priority indication information sent by the management module.
  • the priority indication information is used to indicate the priority of the second state.
  • the negotiation feedback corresponding to the business module is the same as that of the business module.
  • the received negotiation request is associated with the priority indication information.
  • the service module obtains the negotiation feedback corresponding to the service module according to the received negotiation request and priority indication information.
  • the business module determines that the status of its corresponding vehicle parts does not meet the conditions required for the vehicle's status to switch from the first status to the second status, and the priority of the second status indicated by the priority indication information is greater than the predetermined If the priority of the second state indicated by the threshold or priority indication information is higher than the priority of the first state, the corresponding negotiation feedback of the service module indicates that the service module agrees to switch the state of the vehicle from the first state to the third state.
  • Two states It can be seen that based on the priority indication information, the business module can be forced to agree to switch the vehicle's state from the first state to the second state. In this way, when switching to the second state is urgent, the priority indication information can be used to influence the relevant business modules. Corresponding negotiation feedback is achieved to control the status of the entire vehicle.
  • the business module determines that the status of its corresponding vehicle parts does not meet the conditions required for the vehicle's status to switch from the first status to the second status, and the priority of the second status indicated by the priority indication information is smaller than the predetermined If the priority of the second state indicated by the threshold or priority indication information is not higher than the priority of the first state, the corresponding negotiation feedback of the business module indicates that the business module does not agree to switch the vehicle's state from the first state. is the second state.
  • the corresponding negotiation feedback of the business module indicates that the business module agrees to change the vehicle's status.
  • the state is switched from the first state to the second state.
  • S603 The management module sends the negotiation result to at least one service module.
  • the negotiation result is obtained based on the negotiation feedback of at least one of the above service modules.
  • the negotiation result is associated with the negotiation feedback sent by each of the above-mentioned at least one service module.
  • the negotiation result indicates that the vehicle's state is switched.
  • the negotiation feedback of one of the above-mentioned at least one service modules indicates that the vehicle's state is not switched from the first state to the second state
  • the negotiation result indicates that the vehicle's state switching is not performed.
  • the negotiation result may be sent by the management module in any manner including unicast, multicast, or broadcast, which is not specifically limited here.
  • each service module switches the vehicle's state from the first state to the second state.
  • each service module in the at least one service module receives the negotiation result, if the negotiation result indicates that the state of the vehicle is to be switched, each service module switches the state of the vehicle from the first state to the second state. , that is, each business module exits from the first state and enters the second state.
  • each of the above-mentioned at least one service modules does not perform the switching of the vehicle's status, that is, the vehicle's status remains in the third state.
  • One state when the negotiation result indicates that the switching of the vehicle's status is not performed, each of the above-mentioned at least one service modules does not perform the switching of the vehicle's status, that is, the vehicle's status remains in the third state.
  • One state when the negotiation result indicates that the switching of the vehicle's status is not performed, each of the above-mentioned at least one service modules does not perform the switching of the vehicle's status, that is, the vehicle's status remains in the third state.
  • vehicle status switching is realized through coordinated control between business modules based on multiple functional decouplings, which reduces the coupling degree between various functions of the vehicle and not only reduces the complexity of the vehicle system. It also improves the reliability of vehicle control.
  • FIG. 7 is a schematic structural diagram of a communication device provided by an embodiment of the present application.
  • the communication device 30 includes a sending unit 310 and a receiving unit 312 .
  • the communication device 30 can be implemented by hardware, software, or a combination of software and hardware.
  • the sending unit 310 is used to send a first negotiation request to the first business module, and the first negotiation request is used to consult the first business module whether it agrees to switch the state of the vehicle from the first state to the second state; the receiving unit 312, Used to receive the first negotiation feedback sent by the first service module, where the first negotiation feedback is associated with the first negotiation request.
  • the communication device 30 can be used to implement the method on the management module side described in the embodiment of FIG. 6 .
  • the sending unit 310 can be used to perform S601
  • the receiving unit 312 can be used to perform S602.
  • the sending unit 310 can also be used to perform S603
  • the receiving unit 312 can also be used to perform S600.
  • One or more of the various units in the embodiment shown in FIG. 7 above may be implemented in software, hardware, firmware, or a combination thereof.
  • the software or firmware includes, but is not limited to, computer program instructions or code, and may be executed by a hardware processor.
  • the hardware includes but is not limited to various types of integrated circuits, such as central processing unit (CPU), digital signal processor (DSP), field-programmable gate array (FPGA) Or application-specific integrated circuit (ASIC).
  • FIG. 8 is a schematic structural diagram of a communication device provided by an embodiment of the present application.
  • the communication device 40 includes a receiving unit 410 and a sending unit 412 .
  • the communication device 40 can be implemented by hardware, software, or a combination of software and hardware.
  • the receiving unit 410 is used to receive the first negotiation request sent by the management module.
  • the first negotiation request is used to consult the first business module whether it agrees to switch the state of the vehicle from the first state to the second state;
  • the sending unit 412 is used to and sending a first negotiation feedback to the management module based on the first negotiation request.
  • the communication device 40 can be used to implement the method on the business side described in the embodiment of FIG. 6 .
  • the receiving unit 410 can be used to perform S601 and S603, and the sending unit 412 can be used to perform S602 and S600.
  • the communication device 40 further includes a processing unit (not shown), and the processing unit may be used to perform S604.
  • the software or firmware includes, but is not limited to, computer program instructions or code, and may be executed by a hardware processor.
  • the hardware includes but is not limited to various types of integrated circuits, such as central processing unit (CPU), digital signal processor (DSP), field-programmable gate array (FPGA) Or application-specific integrated circuit (ASIC).
  • Figure 9 is a communication device provided by an embodiment of the present application.
  • the communication device 50 includes: a processor 501 , a communication interface 502 , a memory 503 and a bus 504 .
  • the processor 501, the memory 503 and the communication interface 502 communicate through the bus 504. It should be understood that this application does not limit the number of processors and memories in the communication device 50 .
  • the communication device 50 is also used to implement the method on the management module side described in the embodiment of FIG. 6.
  • the communication device 50 may be the domain controller in the above embodiment.
  • the domain controller for example, It can be a vehicle domain controller (VDC), a mobile data center (MDC), a cockpit domain controller (CDC), a domain controller that integrates VDC functions and MDC functions, Any one of domain controllers that integrate VDC functions and CDC functions, domain controllers that integrate MDC functions and CDC functions, or domain controllers that integrate VDC functions, MDC functions, and CDC functions.
  • the communication device 50 may also be a component within the above-mentioned domain controller, such as a chip, a line card or an integrated circuit.
  • the communication device 50 is also used to implement the method on the service module side described in the embodiment of FIG. 6.
  • the communication device 50 may also be the domain controller in the above embodiment.
  • the controller can be, for example, a VDC, an MDC, a CDC, a domain controller that integrates VDC functions and MDC functions, a domain controller that integrates VDC functions and CDC functions, a domain controller that integrates MDC functions and CDC functions, and a domain controller that integrates VDC functions. Any of the domain controllers with MDC function, CDC function.
  • the communication device 50 may also be the above-mentioned vehicle integrated unit (VIU).
  • the communication device 50 may also be a component in the above-mentioned domain controller or a component in the vehicle integrated unit. The component may be, for example, a chip, a line card, or an integrated circuit, which are not specifically limited here.
  • the bus 504 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc.
  • the bus can be divided into address bus, data bus, control bus, etc. For ease of presentation, only one line is used in Figure 9, but it does not mean that there is only one bus or one type of bus.
  • Bus 504 may include a path that carries information between various components of communication device 50 (eg, memory 503, processor 501, communication interface 502).
  • the processor 501 may include any one or more of a central processing unit (CPU), a microprocessor (MP), or a digital signal processor (DSP).
  • CPU central processing unit
  • MP microprocessor
  • DSP digital signal processor
  • the memory 503 is used to provide storage space, and data such as operating systems and computer programs can be stored in the storage space.
  • the memory 503 may be a random access memory (RAM), an erasable programmable read only memory (EPROM), a read-only memory (ROM), or a portable read-only memory.
  • RAM random access memory
  • EPROM erasable programmable read only memory
  • ROM read-only memory
  • portable read-only memory One or a combination of multiple types of memory (compact disc read memory, CD-ROM), etc.
  • the memory 503 can exist alone or be integrated inside the processor 501 .
  • Communication interface 502 may be used to provide information input or output to processor 501. Or alternatively, the communication interface 502 can be used to receive data sent from the outside and/or send data to the outside. It can be a wired link interface such as an Ethernet cable, or a wireless link (such as Wi-Fi, Bluetooth, general wireless transmission, etc.) interface. Or alternatively, the communication interface 502 may also include a transmitter (such as a radio frequency transmitter, an antenna, etc.), or a receiver coupled to the interface.
  • a transmitter such as a radio frequency transmitter, an antenna, etc.
  • the processor 501 in the communication device 50 is used to read the computer program stored in the memory 503 and is used to execute the aforementioned method, such as the method described in FIG. 6 .
  • the communication device 50 can be a management module that performs the method shown in Figure 6.
  • the processor 501 can be used to read one or more computer programs stored in the memory to perform the following operations:
  • the first negotiation feedback sent by the first service module is received through the receiving unit 312, and the first negotiation feedback is associated with the first negotiation request.
  • the communication device 50 can be a business module that performs the method shown in Figure 6.
  • the processor 501 can be used to read one or more computer programs stored in the memory to perform the following operations:
  • the first negotiation request sent by the management module is received through the receiving unit 410.
  • the first negotiation request is used to consult the first business module whether it agrees to switch the vehicle's state from the first state to the second state;
  • the sending unit 412 sends the first negotiation feedback to the management module based on the first negotiation request.
  • the embodiment of the present application also provides a communication system, which includes a first device and a second device, wherein the first device may be the communication device 30 shown in Figure 7 or used to implement the method described in the embodiment of Figure 6
  • the second device may be the communication device 40 shown in Figure 8 or the communication device shown in Figure 9 used to implement the service module side method described in the embodiment of Figure 6 50.
  • This communication system can be used to implement the vehicle control method shown in the embodiment of FIG. 6 above.
  • An embodiment of the present application also provides a vehicle, which includes the communication device 30 shown in FIG. 7 and the communication device 40 shown in FIG. 8 , or the vehicle includes a management module for implementing the embodiment of FIG. 6
  • storage media include read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (erasable programmable read only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically erasable programmable read-only memory (EEPROM), Compact disc read-only memory (CD-ROM) or other optical disk storage, magnetic disk storage, tape storage, or any other computer-readable medium that can be used to carry or store data.
  • ROM read-only memory
  • RAM random access memory
  • PROM programmable read-only memory
  • EPROM erasable programmable read only memory
  • OTPROM one-time programmable read-only memory
  • EEPROM electrically erasable programmable read-only memory
  • CD-ROM Compact disc read-only memory
  • CD-ROM Compact disc read-only memory
  • the technical solution of the present application is essentially or contributes to the existing technology, or all or part of the technical solution can be embodied in the form of a software product.
  • the computer program product is stored in a storage medium and includes a number of instructions. So that a device (which can be a personal computer, a server, or a network device, a robot, a microcontroller, a chip, a robot, etc.) executes all or part of the steps of the method described in various embodiments of the application.

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Abstract

A vehicle control method and apparatus. The method comprises: a management module sending a first negotiation request to a first service module, so as to consult the first service module whether same agrees to switch the state of a vehicle from a first state to a second state; and receiving first negotiation feedback, which is sent by the first service module on the basis of the first negotiation request. By means of implementing the present application, a function related to vehicle state switching is decomposed, such that the degree of coupling between vehicle functions is reduced, which is beneficial for reducing the complexity of a vehicle system and improving the stability of vehicle control.

Description

一种整车控制方法及装置A vehicle control method and device 技术领域Technical field
本申请涉及车载领域，尤其涉及一种整车控制方法及装置。The present application relates to the vehicle field, and in particular, to a vehicle control method and device.
背景技术Background technique
汽车新四化“网联化、电动化、智能化和共享化”对汽车的发展提出了新的要求。随着车辆需要实现的功能越来越复杂，车辆状态的控制难度也随之提高。The new four modernizations of automobiles (connectedness, electrification, intelligence and sharing) have put forward new requirements for the development of automobiles. As the functions that vehicles need to implement become more and more complex, the difficulty of controlling the vehicle state also increases.
例如，当前采用基于信号的分布式电子电气架构实现整车控制，车辆上的控制体系以电子控制单元ECU为核心，车辆上的每一个功能对应至少一个ECU，即硬件与功能相互耦合，且ECU与ECU之间基于信号进行点对点通信，且不同ECU发送信号的周期不同，设计整车状态切换的方案时需要考虑各ECU的功能之间的耦合关系、ECU之间复杂的时序关系等因素，导致车辆状态切换的方案的设计难度大、功能设计复杂。For example, a signal-based distributed electronic and electrical architecture is currently used to realize vehicle control. The control system on the vehicle is based on the electronic control unit ECU. Each function on the vehicle corresponds to at least one ECU, that is, the hardware and functions are coupled to each other, and the ECU Point-to-point communication with ECUs is based on signals, and different ECUs send signals at different intervals. When designing a vehicle state switching scheme, factors such as the coupling relationship between the functions of each ECU and the complex timing relationship between ECUs need to be considered, resulting in The design of the vehicle status switching scheme is difficult and the functional design is complex.
发明内容Contents of the invention
本申请公开了一种整车控制方法及装置，能够降低整车功能之间的耦合度，提高了整车控制的可靠性。This application discloses a vehicle control method and device, which can reduce the coupling degree between vehicle functions and improve the reliability of vehicle control.
第一方面，本申请提供了一种整车控制方法，所述方法包括：向第一业务模块发送第一协商请求，所述第一协商请求用于咨询所述第一业务模块是否同意将车辆的状态由第一状态切换为第二状态；接收所述第一业务模块发送的第一协商反馈，所述第一协商反馈与所述第一协商请求相关联。In a first aspect, this application provides a vehicle control method. The method includes: sending a first negotiation request to a first business module. The first negotiation request is used to consult the first business module whether it agrees to use the vehicle as a vehicle. The state is switched from the first state to the second state; receiving the first negotiation feedback sent by the first service module, where the first negotiation feedback is associated with the first negotiation request.
该方法应用于管理模块，管理模块例如可以是车辆上的域控制器或者车辆上的域控制器内的组件，例如，芯片、线卡或集成电路等，其中，域控制器例如可以是整车域控制器(vehicle domain controller，VDC)、移动数据中心(mobile data center，MDC)、座舱域控制器(cockpit domain controller，CDC)、融合了VDC功能和MDC功能的域控制器、融合了VDC功能和CDC功能的域控制器、融合了MDC功能和CDC功能的域控制器和融合了VDC功能、MDC功能和CDC功能的域控制器中的任意一种。This method is applied to the management module. The management module can be, for example, a domain controller on the vehicle or a component within the domain controller on the vehicle, such as a chip, line card or integrated circuit. The domain controller can be, for example, the entire vehicle. Domain controller (vehicle domain controller, VDC), mobile data center (mobile data center, MDC), cockpit domain controller (cockpit domain controller, CDC), domain controller that integrates VDC functions and MDC functions, integrates VDC functions Any one of domain controllers with CDC functions, domain controllers with MDC functions and CDC functions, or domain controllers with VDC functions, MDC functions, and CDC functions.
其中，第一业务模块承载有相应的业务，例如，第一业务。这里，业务也可以称为应用、功能或服务。在本申请中，第一业务模块承载有相应的业务，可以包括：相应的业务对应的数据、处理过程中的至少一项可以通过该第一业务模块实现。The first service module carries corresponding services, for example, the first service. Here, business can also be called application, function or service. In this application, the first service module carries corresponding services, which may include: data corresponding to the corresponding services, and at least one of the processing procedures may be implemented through the first service module.
车辆的状态可以理解为包括：用户在使用车辆的过程中车辆对外呈现的状态或模式。示例性地，车辆的状态可以分为待车状态、行车状态、舒适状态、充电状态(针对电动车辆)、停车状态等中的一项或多项。其中，待车状态可以表示车辆已解锁但车辆未启动，行车状态可以表示车辆已启动且在行驶过程中，舒适状态可以表示车辆在行驶过程中开启了空调，充电状态可以表示车辆未解锁但当前正在充电，停车状态可以表示车辆未解锁。可以理解，车辆的状态也可以称为车辆状态、整车状态、车辆的模式或者整车模式，在此不作具体限定。The status of the vehicle can be understood to include: the status or mode that the vehicle presents to the outside world when the user is using the vehicle. For example, the state of the vehicle can be divided into one or more of a waiting state, a driving state, a comfort state, a charging state (for electric vehicles), a parking state, and the like. Among them, the waiting state can mean that the vehicle is unlocked but not started, the driving state can mean that the vehicle has been started and is driving, the comfort state can mean that the air conditioner is turned on while the vehicle is driving, and the charging state can mean that the vehicle is not unlocked but is currently running. Charging and parking status can indicate that the vehicle is not unlocked. It can be understood that the state of the vehicle can also be called vehicle state, complete vehicle state, vehicle mode or complete vehicle mode, which is not specifically limited here.
这里，第一协商反馈与第一协商请求相关联可以理解为第一协商反馈是对第一协商请求 的响应，或者理解为第一协商反馈为第一业务模块基于第一协商请求发送的。Here, the association of the first negotiation feedback with the first negotiation request can be understood as the first negotiation feedback being a response to the first negotiation request, or as the first negotiation feedback being sent by the first service module based on the first negotiation request.
上述方法中，基于业务模块发送的协商反馈可以知晓相应的业务模块是否同意车辆状态的切换，也就是说，与车辆的状态切换相关的业务模块需要发送协商反馈，业务模块本身承载的有业务，即业务模块本身有负责实现相应的功能，而不同业务模块的功能之间是彼此解耦的，因此，通过业务模块发送的协商反馈，实现了与车辆状态的切换相关的功能的分解，降低了车辆功能之间的耦合度，有利于降低车辆***的复杂性以及提高整车控制的稳定性。In the above method, based on the negotiation feedback sent by the business module, it can be known whether the corresponding business module agrees to the vehicle status switching. In other words, the business module related to the vehicle status switching needs to send negotiation feedback, and the business module itself carries services. That is to say, the business module itself is responsible for implementing corresponding functions, and the functions of different business modules are decoupled from each other. Therefore, through the negotiation feedback sent by the business module, the decomposition of functions related to vehicle status switching is achieved, reducing the cost. The coupling degree between vehicle functions is conducive to reducing the complexity of the vehicle system and improving the stability of the vehicle control.
可选地，所述方法还包括：向第二业务模块发送第二协商请求，所述第二协商请求用于咨询所述第二业务模块是否同意将所述整车的状态由所述第一状态切换为所述第二状态；接收所述第二业务模块发送的第二协商反馈，所述第二协商反馈与所述第二协商请求相关联；向所述第一业务模块和所述第二业务模块发送协商结果，所述协商结果是基于所述第一协商反馈和所述第二协商反馈获得。Optionally, the method further includes: sending a second negotiation request to the second business module, the second negotiation request being used to consult the second business module whether it agrees to change the status of the entire vehicle from the first Switching the state to the second state; receiving a second negotiation feedback sent by the second service module, the second negotiation feedback being associated with the second negotiation request; and sending a message to the first service module and the second negotiation request. The second service module sends a negotiation result, which is obtained based on the first negotiation feedback and the second negotiation feedback.
其中，第二业务模块和第一业务模块为与车辆的状态由第一状态切换为第二状态这一状态变化相关的业务模块。The second business module and the first business module are business modules related to the state change of the vehicle from the first state to the second state.
这里，协商结果是基于第一协商反馈和第二协商反馈获得，也说明协商结果与第一协商反馈和第二协商反馈相关联。Here, the negotiation result is obtained based on the first negotiation feedback and the second negotiation feedback, which also means that the negotiation result is associated with the first negotiation feedback and the second negotiation feedback.
实施上述实现方式，管理模块可以向与车辆状态的切换相关的多个业务模块发送协商请求，以咨询各个业务模块是否同意将车辆的状态由第一状态切换为第二状态，并根据各个业务模块对该协商请求的协商反馈获得协商结果，如此，实现对多个功能解耦的业务模块是否执行车辆状态的切换的协调控制，有效降低了车辆***设计的开发难度。Implementing the above implementation, the management module can send negotiation requests to multiple business modules related to the switching of vehicle status to consult each business module whether it agrees to switch the vehicle's status from the first state to the second state, and according to each business module The negotiation feedback of the negotiation request obtains the negotiation result. In this way, coordinated control of whether multiple functionally decoupled business modules perform vehicle status switching is achieved, which effectively reduces the development difficulty of vehicle system design.
可选地，在所述向第一业务模块发送第一协商请求之前，所述方法还包括：接收所述第一业务模块发送的状态转换请求，所述状态转换请求用于请求将所述车辆的状态由所述第一状态切换为所述第二状态，所述第一协商请求与所述状态转换请求相关联。Optionally, before sending the first negotiation request to the first service module, the method further includes: receiving a state transition request sent by the first service module, where the state transition request is used to request that the vehicle be The state is switched from the first state to the second state, and the first negotiation request is associated with the state transition request.
这里，第一协商请求与状态转换请求相关联可以理解为第一协商请求是对状态转换请求的响应，或者理解为第一协商请求是基于状态转换请求发送的。Here, the association of the first negotiation request with the state transition request may be understood to mean that the first negotiation request is a response to the state transition request, or it may be understood that the first negotiation request is sent based on the state transition request.
可以看出，提出状态转换请求的业务模块和接收到协商请求的业务模块可以是同一业务模块，即业务模块既可以提出状态转换请求又可以基于协商请求判断自身是否同意车辆状态的切换，如此，实现了车辆功能的解耦，有效降低了车辆功能之间的耦合度，也降低了车辆***的复杂性。It can be seen that the business module that makes the state transition request and the business module that receives the negotiation request can be the same business module. That is, the business module can both make the state transition request and determine whether it agrees to the vehicle state switching based on the negotiation request. In this way, The decoupling of vehicle functions is achieved, effectively reducing the coupling between vehicle functions and reducing the complexity of the vehicle system.
可选地，在所述向第一业务模块发送第一协商请求之前，所述方法还包括：接收第二业务模块发送的状态转换请求，所述状态转换请求用于请求将所述车辆的状态由所述第一状态切换为所述第二状态，所述第一协商请求与所述状态转换请求相关联。Optionally, before sending the first negotiation request to the first service module, the method further includes: receiving a state transition request sent by the second service module, where the state transition request is used to request to change the state of the vehicle. Switching from the first state to the second state, the first negotiation request is associated with the state transition request.
可以看出，提出状态转换请求的业务模块和接收到协商请求的业务模块可以是不同的业务模块，也就是说，当有业务模块提出状态转换请求时，与该次车辆状态的切换相关的各个业务模块均会接收到管理模块发送的协商请求，实现了将整车状态管理功能分解为多个相互解耦的合作方，降低了车辆***的复杂性，提高了整车状态控制的可靠性。It can be seen that the business module that makes the state transition request and the business module that receives the negotiation request can be different business modules. That is to say, when a business module makes a state transition request, the various modules related to the vehicle state switching All business modules will receive the negotiation request sent by the management module, realizing the decomposition of the vehicle status management function into multiple mutually decoupled partners, reducing the complexity of the vehicle system and improving the reliability of vehicle status control.
可选地，在所述第一协商反馈和所述第二协商反馈均指示同意将所述车辆的状态由所述第一状态切换为所述第二状态的情况下，所述协商结果指示执行所述车辆的状态的切换；或者，在所述第一协商反馈或所述第二协商反馈指示不同意将所述车辆的状态由所述第一状态切换为所述第二状态的情况下，所述协商结果指示不执行所述车辆的状态的切换。Optionally, in the case where both the first negotiation feedback and the second negotiation feedback indicate agreement to switch the state of the vehicle from the first state to the second state, the negotiation result indicates execution Switching of the state of the vehicle; or, in the case where the first negotiation feedback or the second negotiation feedback indicates that the state of the vehicle is not agreed to be switched from the first state to the second state, The negotiation result indicates that switching of the vehicle's status is not to be performed.
可以看出，协商结果是由与车辆状态的切换相关的至少一个业务模块的协商反馈共同确定的，如此，实现了对多个功能解耦的业务模块是否执行车辆状态的切换的协调控制。It can be seen that the negotiation result is jointly determined by the negotiation feedback of at least one business module related to the switching of vehicle status. In this way, coordinated control of whether multiple functionally decoupled business modules perform switching of vehicle status is achieved.
可选地，所述方法还包括：向所述第一业务模块发送优先级指示信息，所述优先级指示信息用于指示所述第二状态的优先级；所述第一协商反馈与所述第一协商请求相关联具体为：所述第一协商反馈与所述第一协商请求和所述优先级指示信息相关联。Optionally, the method further includes: sending priority indication information to the first service module, the priority indication information being used to indicate the priority of the second state; the first negotiation feedback and the The first negotiation request is specifically associated with: the first negotiation feedback is associated with the first negotiation request and the priority indication information.
其中，优先级指示信息可以用于强制业务模块同意将车辆的状态由第一状态切换为第二状态。也就是说，通过优先级指示信息可以影响第一协商反馈。The priority indication information may be used to force the service module to agree to switch the vehicle's state from the first state to the second state. That is to say, the first negotiation feedback can be influenced through the priority indication information.
可选地，所述管理模块部署在所述车辆的第一域控制器。Optionally, the management module is deployed on the first domain controller of the vehicle.
其中，第一域控制器例如可以是整车域控制器(vehicle domain controller，VDC)、移动数据中心(mobile data center，MDC)、座舱域控制器(cockpit domain controller，CDC)、融合了VDC功能和MDC功能的域控制器、融合了VDC功能和CDC功能的域控制器、融合了MDC功能和CDC功能的域控制器和融合了VDC功能、MDC功能和CDC功能的域控制器中的任意一种。Among them, the first domain controller can be, for example, a vehicle domain controller (vehicle domain controller, VDC), a mobile data center (mobile data center, MDC), a cockpit domain controller (cockpit domain controller, CDC), or one that integrates VDC functions. Any one of domain controllers with MDC functions, domain controllers with VDC functions and CDC functions, domain controllers with MDC functions and CDC functions, or domain controllers with VDC functions, MDC functions, and CDC functions. kind.
可选地，所述第一业务模块部署在所述车辆的第二域控制器。可以看出，第一业务模块和管理模块可以部署在不同的域控制器上。Optionally, the first business module is deployed on the second domain controller of the vehicle. It can be seen that the first business module and management module can be deployed on different domain controllers.
可选地，所述第一业务模块部署在所述车辆的整车集成单元(vehicle integrated unit，VIU)。可以看出，第一业务模块也可以部署在VIU上，增加了车辆上业务模块的部署方式的多样性。Optionally, the first business module is deployed in a vehicle integrated unit (VIU) of the vehicle. It can be seen that the first business module can also be deployed on the VIU, which increases the diversity of deployment methods of business modules on the vehicle.
可选地，所述第一业务模块部署在所述车辆的所述第一域控制器。可以看出，第一业务模块和管理模块可以部署在同一域控制器上。Optionally, the first service module is deployed on the first domain controller of the vehicle. It can be seen that the first business module and management module can be deployed on the same domain controller.
第二方面，本申请提供了一种整车控制方法，所述方法包括：接收管理模块发送的第一协商请求，所述第一协商请求用于咨询所述第一业务模块是否同意将车辆的状态由第一状态切换为第二状态；基于所述第一协商请求向所述管理模块发送第一协商反馈。In a second aspect, this application provides a vehicle control method. The method includes: receiving a first negotiation request sent by a management module. The first negotiation request is used to consult the first business module whether it agrees to transfer the vehicle's The state is switched from the first state to the second state; and a first negotiation feedback is sent to the management module based on the first negotiation request.
该方法应用于第一业务模块，第一业务模块例如可以是域控制器内的组件或者VIU内的组件，组件例如可以是芯片、线卡或集成电路等，其中，域控制器例如可以是VDC、MDC、CDC、融合了VDC功能和MDC功能的域控制器、融合了VDC功能和CDC功能的域控制器、融合了MDC功能和CDC功能的域控制器和融合了VDC功能、MDC功能和CDC功能的域控制器中的任意一种。This method is applied to the first business module. The first business module may be, for example, a component within a domain controller or a component within a VIU. The component may be, for example, a chip, a line card, or an integrated circuit. The domain controller may be, for example, a VDC. , MDC, CDC, domain controller that integrates VDC functions and MDC functions, domain controller that integrates VDC functions and CDC functions, domain controller that integrates MDC functions and CDC functions, and domain controller that integrates VDC functions, MDC functions, and CDC Any kind of functional domain controller.
这里，基于第一协商请求向管理模块发送第一协商反馈可以理解为第一协商反馈是对第一协商请求的响应，或者理解为第一协商反馈与第一协商请求相关联。Here, sending the first negotiation feedback to the management module based on the first negotiation request may be understood as the first negotiation feedback being a response to the first negotiation request, or as the first negotiation feedback being associated with the first negotiation request.
上述方法中，响应于接收到的协商请求，业务模块通过发送协商反馈告知管理模式自身是否同意将车辆的状态由第一状态切换为第二状态，实现了与车辆状态的切换相关的功能的分解，降低了车辆功能之间的耦合度，有利于降低车辆***的复杂性以及提高整车控制的稳定性。In the above method, in response to the received negotiation request, the business module sends negotiation feedback to inform the management mode whether it agrees to switch the vehicle state from the first state to the second state, thereby realizing the decomposition of functions related to the vehicle state switching. , reducing the coupling degree between vehicle functions, which is beneficial to reducing the complexity of the vehicle system and improving the stability of the vehicle control.
可选地，在所述接收管理模块发送的第一协商请求之前，所述方法还包括：向所述管理模块发送状态转换请求，所述状态转换请求用于请求将所述车辆的状态由所述第一状态切换为所述第二状态。Optionally, before receiving the first negotiation request sent by the management module, the method further includes: sending a state transition request to the management module, where the state transition request is used to request that the state of the vehicle be changed from the state to the state of the vehicle. The first state is switched to the second state.
这里，第一协商请求与状态转换请求相关联。Here, the first negotiation request is associated with the state transition request.
可以看出，业务模块既可以作为状态转换请求的提出者，又可以作为协商请求的接收者，如此，实现了车辆功能的解耦，有效降低了车辆功能之间的耦合度，也降低了车辆***的复 杂性。It can be seen that the business module can be both the proposer of the state transition request and the recipient of the negotiation request. In this way, the decoupling of vehicle functions is achieved, effectively reducing the coupling between vehicle functions and reducing the cost of the vehicle. System complexity.
可选地，所述方法还包括：根据所述第一协商请求判断所述第一业务模块对应的车辆零部件的状态是否满足所述车辆的状态由所述第一状态切换为所述第二状态所需的条件，获得所述第一协商反馈。Optionally, the method further includes: judging according to the first negotiation request whether the status of the vehicle parts corresponding to the first business module satisfies the status of the vehicle to switch from the first status to the second Status required to obtain the first negotiation feedback.
如此，业务模块获得协商反馈时只需关注与自身相关的车辆状态切换所需的条件，实现了状态控制相关的功能的分解，降低了业务模块之间的耦合度，降低了整车***的复杂性。In this way, when the business module obtains negotiation feedback, it only needs to pay attention to the conditions required for vehicle status switching related to itself, achieving the decomposition of functions related to status control, reducing the coupling between business modules, and reducing the complexity of the entire vehicle system. sex.
可选地，所述方法还包括：接收所述管理模块发送的优先级指示信息，所述优先级指示信息用于指示所述第二状态的优先级；所述基于所述第一协商请求向所述管理模块发送第一协商反馈，包括：基于所述第一协商请求和所述优先级指示信息向所述管理模块发送所述第一协商反馈。Optionally, the method further includes: receiving priority indication information sent by the management module, the priority indication information being used to indicate the priority of the second state; The management module sending the first negotiation feedback includes: sending the first negotiation feedback to the management module based on the first negotiation request and the priority indication information.
这里，第二状态的优先级表示切换至第二状态这一事件的紧急程度或紧迫程度，第二状态的优先级越高，意味着切换至第二状态这一事件越紧迫。Here, the priority of the second state indicates the urgency or urgency of the event of switching to the second state. The higher the priority of the second state, the more urgent the event of switching to the second state.
可以看出，第一协商反馈与第一协商请求和优先级指示信息相关联，优先级指示信息可以影响第一协商结果。It can be seen that the first negotiation feedback is associated with the first negotiation request and the priority indication information, and the priority indication information can affect the first negotiation result.
可选地，所述方法还包括：根据所述第一协商请求和所述优先级指示信息，获得所述第一协商反馈。Optionally, the method further includes: obtaining the first negotiation feedback according to the first negotiation request and the priority indication information.
也就是说，第一协商结果由第一协商请求和优先级指示信息共同确定，优先级指示信息可以影响第一协商结果。That is to say, the first negotiation result is jointly determined by the first negotiation request and the priority indication information, and the priority indication information may affect the first negotiation result.
可选地，基于所述第一协商请求确定所述第一业务模块对应的车辆零部件的状态不满足所述车辆的状态由所述第一状态切换为所述第二状态所需的条件，且所述第二状态的优先级大于预设阈值或者所述第二状态的优先级高于所述第一状态的优先级的情况下，所述第一协商反馈指示同意将所述车辆的状态由所述第一状态切换为所述第二状态。Optionally, it is determined based on the first negotiation request that the status of the vehicle component corresponding to the first business module does not meet the conditions required for the status of the vehicle to be switched from the first status to the second status, And when the priority of the second state is greater than the preset threshold or the priority of the second state is higher than the priority of the first state, the first negotiation feedback indicates agreement to change the state of the vehicle. Switch from the first state to the second state.
可以看出，在业务模块确定自身对应的车辆零部件的状态不满足所述车辆的状态由所述第一状态切换为所述第二状态所需的条件时，优先级指示信息可以用于强制业务模块同意将车辆的状态由第一状态切换为第二状态，如此，在切换至第二状态较紧急时，可以通过优先级指示信息影响相关业务模块对应的协商反馈，从而实现整车状态的控制。It can be seen that when the business module determines that the status of its corresponding vehicle parts does not meet the conditions required for the status of the vehicle to switch from the first status to the second status, the priority indication information can be used to force The business module agrees to switch the vehicle's status from the first state to the second state. In this way, when the switch to the second state is urgent, the priority indication information can be used to affect the corresponding negotiation feedback of the relevant business modules, thereby realizing the status of the entire vehicle. control.
可选地，所述方法还包括：接收所述管理模块发送的协商结果，所述协商结果是基于所述第一协商反馈获得；在所述协商结果指示执行所述车辆的状态的切换的情况下，将所述车辆的状态由所述第一状态切换为所述第二状态。Optionally, the method further includes: receiving a negotiation result sent by the management module, where the negotiation result is obtained based on the first negotiation feedback; when the negotiation result indicates that the state of the vehicle is switched, , switching the state of the vehicle from the first state to the second state.
可以看出，业务模块可以基于管理模块发送的协商结果，实现车辆的状态的切换。It can be seen that the business module can switch the vehicle status based on the negotiation results sent by the management module.
可选地，所述管理模块部署在所述车辆的第一域控制器。Optionally, the management module is deployed on the first domain controller of the vehicle.
可选地，所述第一业务模块部署在所述车辆的第二域控制器。Optionally, the first business module is deployed on the second domain controller of the vehicle.
可选地，所述第一业务模块部署在所述车辆的整车集成单元VIU。Optionally, the first service module is deployed in the vehicle integration unit VIU of the vehicle.
可选地，所述第一业务模块部署在所述车辆的所述第一域控制器。Optionally, the first service module is deployed on the first domain controller of the vehicle.
有关管理模块以及第一业务模块在车辆上的具体部署方式的有益效果可以参考上述第一方面中相应内容的叙述，在此不再赘述。Regarding the beneficial effects of the specific deployment method of the management module and the first business module on the vehicle, please refer to the description of the corresponding content in the above first aspect, and will not be repeated here.
第三方面，本申请提供了一种用于整车控制的装置，所述装置包括发送单元和接收单元，其中，所述发送单元用于向第一业务模块发送第一协商请求，所述第一协商请求用于咨询所述第一业务模块是否同意将车辆的状态由第一状态切换为第二状态；所述接收单元用于接收 所述第一业务模块发送的第一协商反馈，所述第一协商反馈与所述第一协商请求相关联。In a third aspect, the present application provides a device for vehicle control. The device includes a sending unit and a receiving unit, wherein the sending unit is used to send a first negotiation request to a first service module, and the third A negotiation request is used to consult the first business module whether it agrees to switch the state of the vehicle from the first state to the second state; the receiving unit is used to receive the first negotiation feedback sent by the first business module, the A first negotiation feedback is associated with the first negotiation request.
可选地，所述发送单元还用于：向第二业务模块发送第二协商请求，所述第二协商请求用于咨询所述第二业务模块是否同意将所述整车的状态由所述第一状态切换为所述第二状态；所述接收单元还用于：接收所述第二业务模块发送的第二协商反馈，所述第二协商反馈与所述第二协商请求相关联；所述发送单元还用于：向所述第一业务模块和所述第二业务模块发送协商结果，所述协商结果是基于所述第一协商反馈和所述第二协商反馈获得。Optionally, the sending unit is further configured to: send a second negotiation request to the second business module, where the second negotiation request is used to consult the second business module whether it agrees to change the status of the entire vehicle by the The first state is switched to the second state; the receiving unit is further configured to: receive a second negotiation feedback sent by the second service module, where the second negotiation feedback is associated with the second negotiation request; The sending unit is further configured to: send a negotiation result to the first service module and the second service module, where the negotiation result is obtained based on the first negotiation feedback and the second negotiation feedback.
可选地，所述接收单元还用于：接收所述第一业务模块发送的状态转换请求，所述状态转换请求用于请求将所述车辆的状态由所述第一状态切换为所述第二状态，所述第一协商请求与所述状态转换请求相关联。Optionally, the receiving unit is further configured to: receive a state transition request sent by the first service module, where the state transition request is used to request to switch the state of the vehicle from the first state to the third state. In the second state, the first negotiation request is associated with the state transition request.
可选地，所述接收单元还用于：接收第二业务模块发送的状态转换请求，所述状态转换请求用于请求将所述车辆的状态由所述第一状态切换为所述第二状态，所述第一协商请求与所述状态转换请求相关联。Optionally, the receiving unit is also configured to: receive a state transition request sent by the second service module, where the state transition request is used to request to switch the state of the vehicle from the first state to the second state. , the first negotiation request is associated with the state transition request.
可选地，在所述第一协商反馈和所述第二协商反馈均指示同意将所述车辆的状态由所述第一状态切换为所述第二状态的情况下，所述协商结果指示执行所述车辆的状态的切换；或者，在所述第一协商反馈或所述第二协商反馈指示不同意将所述车辆的状态由所述第一状态切换为所述第二状态的情况下，所述协商结果指示不执行所述车辆的状态的切换。Optionally, in the case where both the first negotiation feedback and the second negotiation feedback indicate agreement to switch the state of the vehicle from the first state to the second state, the negotiation result indicates execution Switching of the state of the vehicle; or, in the case where the first negotiation feedback or the second negotiation feedback indicates that the state of the vehicle is not agreed to be switched from the first state to the second state, The negotiation result indicates that switching of the vehicle's status is not to be performed.
可选地，所述发送单元还用于：向所述第一业务模块发送优先级指示信息，所述优先级指示信息用于指示所述第二状态的优先级；所述第一协商反馈与所述第一协商请求相关联具体为：所述第一协商反馈与所述第一协商请求和所述优先级指示信息相关联。Optionally, the sending unit is further configured to: send priority indication information to the first service module, where the priority indication information is used to indicate the priority of the second state; the first negotiation feedback and The association of the first negotiation request is specifically: the first negotiation feedback is associated with the first negotiation request and the priority indication information.
可选地，所述管理模块部署在所述车辆的第一域控制器。Optionally, the management module is deployed on the first domain controller of the vehicle.
可选地，所述第一业务模块部署在所述车辆的第二域控制器。Optionally, the first business module is deployed on the second domain controller of the vehicle.
可选地，所述第一业务模块部署在所述车辆的整车集成单元VIU。Optionally, the first service module is deployed in the vehicle integration unit VIU of the vehicle.
可选地，所述第一业务模块部署在所述车辆的所述第一域控制器。Optionally, the first service module is deployed on the first domain controller of the vehicle.
第四方面，本申请提供了一种用于整车控制的装置，所述装置包括接收单元和发送单元，其中，所述接收单元用于接收管理模块发送的第一协商请求，所述第一协商请求用于咨询所述第一业务模块是否同意将车辆的状态由第一状态切换为第二状态；所述发送单元用于基于所述第一协商请求向所述管理模块发送第一协商反馈。In a fourth aspect, this application provides a device for vehicle control. The device includes a receiving unit and a sending unit, wherein the receiving unit is used to receive the first negotiation request sent by the management module, and the first negotiation request is sent by the management module. The negotiation request is used to consult the first service module whether it agrees to switch the state of the vehicle from the first state to the second state; the sending unit is used to send a first negotiation feedback to the management module based on the first negotiation request. .
可选地，所述发送单元还用于：向所述管理模块发送状态转换请求，所述状态转换请求用于请求将所述车辆的状态由所述第一状态切换为所述第二状态。Optionally, the sending unit is further configured to: send a state transition request to the management module, where the state transition request is used to request to switch the state of the vehicle from the first state to the second state.
可选地，所述装置还包括处理单元，所述处理单元用于：根据所述第一协商请求判断所述第一业务模块对应的车辆零部件的状态是否满足所述车辆的状态由所述第一状态切换为所述第二状态所需的条件，获得所述第一协商反馈。Optionally, the device further includes a processing unit configured to determine whether the status of the vehicle parts corresponding to the first business module satisfies the status of the vehicle according to the first negotiation request. Conditions required for switching the first state to the second state and obtaining the first negotiation feedback.
可选地，所述接收单元还用于：接收所述管理模块发送的优先级指示信息，所述优先级指示信息指示所述第二状态的优先级；所述发送单元具体用于：基于所述第一协商请求和所述优先级指示信息向所述管理模块发送所述第一协商反馈。Optionally, the receiving unit is further configured to: receive priority indication information sent by the management module, the priority indication information indicating the priority of the second state; the sending unit is specifically configured to: based on the The first negotiation request and the priority indication information are used to send the first negotiation feedback to the management module.
可选地，所述处理单元还用于：根据所述第一协商请求和所述优先级指示信息，获得所述第一协商反馈。Optionally, the processing unit is further configured to: obtain the first negotiation feedback according to the first negotiation request and the priority indication information.
可选地，基于所述第一协商请求确定所述第一业务模块对应的车辆零部件的状态不满足所述车辆的状态由所述第一状态切换为所述第二状态所需的条件，且所述第二状态的优先级 大于预设阈值或者所述第二状态的优先级高于所述第一状态的优先级的情况下，所述第一协商反馈指示同意将所述车辆的状态由所述第一状态切换为所述第二状态。Optionally, it is determined based on the first negotiation request that the status of the vehicle component corresponding to the first business module does not meet the conditions required for the status of the vehicle to be switched from the first status to the second status, And when the priority of the second state is greater than the preset threshold or the priority of the second state is higher than the priority of the first state, the first negotiation feedback indicates agreement to change the state of the vehicle. Switch from the first state to the second state.
可选地，所述接收单元还用于：接收所述管理模块发送的协商结果，所述协商结果是基于所述第一协商反馈获得；所述处理单元还用于：在所述协商结果指示执行所述车辆的状态的切换的情况下，将所述车辆的状态由所述第一状态切换为所述第二状态。Optionally, the receiving unit is also configured to: receive the negotiation result sent by the management module, where the negotiation result is obtained based on the first negotiation feedback; the processing unit is also configured to: when the negotiation result indicates When switching the state of the vehicle, the state of the vehicle is switched from the first state to the second state.
可选地，所述管理模块部署在所述车辆的第一域控制器。Optionally, the management module is deployed on the first domain controller of the vehicle.
可选地，所述第一业务模块部署在所述车辆的第二域控制器。Optionally, the first business module is deployed on the second domain controller of the vehicle.
可选地，所述第一业务模块部署在所述车辆的整车集成单元VIU。Optionally, the first service module is deployed in the vehicle integration unit VIU of the vehicle.
可选地，所述第一业务模块部署在所述车辆的所述第一域控制器。Optionally, the first service module is deployed on the first domain controller of the vehicle.
第五方面，本申请提供了一种计算机可读存储介质，包括计算机指令，当所述计算机指令在被处理器运行时，实现上述第一方面或者第一方面的任一可能的实现方式中的方法。In a fifth aspect, the present application provides a computer-readable storage medium, including computer instructions. When the computer instructions are executed by a processor, the above-mentioned first aspect or any possible implementation of the first aspect is implemented. method.
第六方面，本申请提供了一种计算机可读存储介质，包括计算机指令，当所述计算机指令在被处理器运行时，实现上述第二方面或者第二方面的任一可能的实现方式中的方法。In a sixth aspect, the present application provides a computer-readable storage medium, including computer instructions. When the computer instructions are executed by a processor, the above-mentioned second aspect or any possible implementation of the second aspect is implemented. method.
第七方面，本申请提供了一种计算机程序产品，当该计算机程序产品被处理器执行时，实现上述第一方面或者第一方面的任一可能的实施例中的所述方法。该计算机程序产品，例如可以为一个软件安装包，在需要使用上述第一方面的任一种可能的设计提供的方法的情况下，可以下载该计算机程序产品并在处理器上执行该计算机程序产品，以实现第一方面或者第一方面的任一可能的实施例中的所述方法。In a seventh aspect, the present application provides a computer program product. When the computer program product is executed by a processor, the method in the above-mentioned first aspect or any possible embodiment of the first aspect is implemented. The computer program product, for example, can be a software installation package. If it is necessary to use the method provided by any of the possible designs of the first aspect, the computer program product can be downloaded and executed on the processor. , to implement the method in the first aspect or any possible embodiment of the first aspect.
第八方面，本申请提供了一种计算机程序产品，当该计算机程序产品被处理器执行时，实现上述第二方面或者第二方面的任一可能的实施例中的所述方法。该计算机程序产品，例如可以为一个软件安装包，在需要使用上述第二方面的任一种可能的设计提供的方法的情况下，可以下载该计算机程序产品并在处理器上执行该计算机程序产品，以实现第二方面或者第二方面的任一可能的实施例中的所述方法。In an eighth aspect, the present application provides a computer program product that, when executed by a processor, implements the method in the above second aspect or any possible embodiment of the second aspect. The computer program product, for example, can be a software installation package. If it is necessary to use the method provided by any of the possible designs of the second aspect above, the computer program product can be downloaded and executed on the processor. , to implement the method in the second aspect or any possible embodiment of the second aspect.
第九方面，本申请提供了一种芯片，该芯片包含至少一个处理器以及通信接口，所述通信接口用于为所述至少一个处理器提供信息输入和/或输出。该芯片用于实现第一方面或者第一方面任一可能的实施例中的所述方法。In a ninth aspect, the present application provides a chip that includes at least one processor and a communication interface, and the communication interface is used to provide information input and/or output for the at least one processor. The chip is used to implement the method in the first aspect or any possible embodiment of the first aspect.
第十方面，本申请提供了一种芯片，该芯片包含至少一个处理器以及通信接口，所述通信接口用于为所述至少一个处理器提供信息输入和/或输出。该芯片用于实现第二方面或者第二方面任一可能的实施例中的所述方法。In a tenth aspect, the present application provides a chip that includes at least one processor and a communication interface, and the communication interface is used to provide information input and/or output for the at least one processor. The chip is used to implement the method in the second aspect or any possible embodiment of the second aspect.
第十一方面，本申请提供了一种车辆，该车辆包括如上述第三方面和第四方面的装置，或者，该车辆包括如上述第三方面的任一可能的实现方式的装置和上述第五方面的任一可能的实现方式的装置，或者，该车辆包括上述第九方面和第十方面的芯片。In an eleventh aspect, the present application provides a vehicle, which includes the devices of the third aspect and the fourth aspect, or the vehicle includes the device of any possible implementation of the third aspect and the third aspect. Any possible implementation of the fifth aspect, or the vehicle includes the chips of the ninth and tenth aspects.
附图说明Description of the drawings
图1是本申请实施例提供的一种整车控制的场景示意图；Figure 1 is a schematic diagram of a vehicle control scenario provided by an embodiment of the present application;
图2是本申请实施例提供的一种车载***架构的示意图；Figure 2 is a schematic diagram of a vehicle system architecture provided by an embodiment of the present application;
图3是本申请实施例提供的一种车辆上的功能部署示意图；Figure 3 is a schematic diagram of functional deployment on a vehicle provided by an embodiment of the present application;
图4是本申请实施例提供的又一种车辆上的功能部署示意图；Figure 4 is a schematic diagram of yet another functional deployment on a vehicle provided by an embodiment of the present application;
图5是本申请实施例提供的一种车辆上的功能部署示意图；Figure 5 is a schematic diagram of functional deployment on a vehicle provided by an embodiment of the present application;
图6是本申请实施例提供的又一种整车控制方法的流程示意图；Figure 6 is a schematic flow chart of yet another vehicle control method provided by an embodiment of the present application;
图7是本申请本实施例提供的一种通信装置的结构示意图；Figure 7 is a schematic structural diagram of a communication device provided by this embodiment of the present application;
图8是本申请本实施例提供的一种通信装置的结构示意图；Figure 8 is a schematic structural diagram of a communication device provided by this embodiment of the present application;
图9是本申请本实施例提供的一种通信设备的结构示意图。Figure 9 is a schematic structural diagram of a communication device provided by this embodiment of the present application.
具体实施方式Detailed ways
在本申请实施例中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请。本申请实施例中的说明书和权利要求书中的术语“第一”、“第二”等是用于区别不同对象，而不是用于描述特定顺序。The terminology used in the embodiments of the present application is only for the purpose of describing specific embodiments and is not intended to limit the present application. The terms "first", "second", etc. in the description and claims of the embodiments of this application are used to distinguish different objects, rather than describing a specific sequence.
需要说明的是，本申请中采用诸如“第一”、“第二”的前缀词，仅仅为了区分不同的描述对象，对被描述对象的位置、顺序、优先级、数量或内容等没有任何限定作用。例如，被描述对象为“业务模块”，则“第一业务模块”和“第二业务模块”中“业务模块”之前的序数词并不限制“业务模块”之间的位置或顺序。再如，被描述对象为“等级”，则“第一等级”和“第二等级”中“等级”之前的序数词并不限制“等级”之间的优先级。再如，被描述对象的数量并不受前缀词的限制，可以是一个或者多个，以“第一设备”为例，其中“设备”的数量可以是一个或者多个。此外，不同前缀词修饰的对象可以相同或不同，例如，被描述对象为“设备”，则“第一设备”和“第二设备”可以是同一个设备、相同类型的设备或者不同类型的设备；再如，被描述对象为“信息”，则“第一信息”和“第二信息”可以是相同内容的信息或者不同内容的信息。总之，本申请实施例中对用于区分描述对象的前缀词的使用不构成对所描述对象的限制，对所描述对象的陈述参见权利要求或实施例中上下文的描述，不应因为使用这种前缀词而构成多余的限制。It should be noted that the prefixes such as "first" and "second" are used in this application only to distinguish different description objects, and there are no restrictions on the position, order, priority, quantity or content of the described objects. effect. For example, if the described object is a "business module", then the ordinal words before "business module" in the "first business module" and "second business module" do not limit the position or order between the "business modules". For another example, if the described object is "level", then the ordinal words before "level" in "first level" and "second level" do not limit the priority between "levels". For another example, the number of described objects is not limited by the prefix, and can be one or more. Taking "first device" as an example, the number of "devices" can be one or more. In addition, the objects modified by different prefixes can be the same or different. For example, if the described object is "device", then the "first device" and the "second device" can be the same device, the same type of device, or different types of devices. ; For another example, if the described object is "information", then the "first information" and the "second information" may be information with the same content or information with different contents. In short, the use of prefixes used to distinguish the described objects in the embodiments of this application does not constitute a limitation on the described objects. For the description of the described objects, please refer to the claims or the context description in the embodiments. The use of such words should not be used. Prefix words constitute redundant restrictions.
需要说明的是，本申请实施例中采用诸如“a1、a2、……和an中的至少一项(或至少一个)”等的描述方式，包括了a1、a2、……和an中任意一个单独存在的情况，也包括了a1、a2、……和an中任意多个的任意组合情况，每种情况可以单独存在。例如，“a、b和c中的至少一项”的描述方式，包括了单独a、单独b、单独c、a和b组合、a和c组合、b和c组合，或abc三者组合的情况。It should be noted that in the embodiments of the present application, descriptions such as "at least one (or at least one) of a1, a2, ... and an" are used, including any one of a1, a2, ... and an. The situation that exists alone also includes any combination of any number of a1, a2,... and an. Each situation can exist alone. For example, the description of "at least one of a, b, and c" includes a alone, b alone, c alone, a combination of a and b, a combination of a and c, a combination of b and c, or a combination of abc. Condition.
参见图1，图1是本申请实施例提供的一种整车控制的场景示意图。图1示出了基于传统电子电气架构的整车控制的示意图。在图1中，假设车辆内的整车控制单元(vehicle control unit，VCU)、电子控制单元ECU1和ECU2通过控制器局域网(controller area network，CAN)总线1接入网关，车身控制模块(bodycontrolmodule，BCM)、ECU3和ECU4通过CAN总线2接入网关，不同总线上ECU发出的信号可以通过网关转发，从而实现通信。Referring to Figure 1, Figure 1 is a schematic diagram of a vehicle control scenario provided by an embodiment of the present application. Figure 1 shows a schematic diagram of vehicle control based on traditional electronic and electrical architecture. In Figure 1, it is assumed that the vehicle control unit (VCU), electronic control units ECU1 and ECU2 in the vehicle access the gateway through the controller area network (CAN) bus 1, and the body control module (bodycontrolmodule, BCM), ECU3 and ECU4 are connected to the gateway through CAN bus 2. Signals from ECUs on different buses can be forwarded through the gateway to achieve communication.
示例性地，BCM具有状态管理功能，即由BCM统一进行车辆状态的状态管理。以电动车辆为例，假设BCM基于ECU1发送的信号检测到ECU1的信号发生变化(例如，用户钥匙由ON档转为Start档)，在此情况下，BCM通过网关以及通信总线还获取与该次状态切换(例如，待车状态切换至行车状态)相关的目标器件(例如，VCU、ECU1、ECU2和ECU3)发送的信号，并分别判断各个信号是否满足该次状态切换所需的条件中与该信号自身相关的条件，例如，档位是否处于P档或N档、制动踏板是否被踩踏、蓄电池电量是否大于预设电量阈值、充电唤醒信号是否未被唤醒等，在确定各个信号均满足该次状态切换所需的条件中与该信号自身相关的条件时，BCM下发执行状态切换的信号。可以看出，传统电子电气架构 下，车辆的状态切换涉及的各器件的功能之间耦合度大，且各器件发送信号的周期也不同，导致车辆状态切换的方案的设计难度大，整车***的可靠性低。For example, the BCM has a status management function, that is, the BCM performs unified status management of the vehicle status. Taking an electric vehicle as an example, assume that the BCM detects a change in the signal of ECU1 based on the signal sent by ECU1 (for example, the user key changes from the ON position to the Start position). In this case, the BCM also obtains the information related to this time through the gateway and communication bus. The signals sent by the target devices (for example, VCU, ECU1, ECU2 and ECU3) related to the state switching (for example, switching from the waiting state to the driving state), and respectively determine whether each signal meets the conditions required for the state switching and is related to the state. Conditions related to the signal itself, such as whether the gear is in P or N, whether the brake pedal is stepped on, whether the battery power is greater than the preset power threshold, whether the charging wake-up signal has not been awakened, etc., after confirming that each signal meets the requirements When the conditions required for a secondary state switch are related to the signal itself, the BCM issues a signal to perform the state switch. It can be seen that under the traditional electronic and electrical architecture, the functions of the various devices involved in the vehicle's state switching are highly coupled, and the cycles of signals sent by each device are also different, which makes the design of the vehicle state switching scheme difficult and the entire vehicle system The reliability is low.
针对上述问题，本申请实施例提出一种整车控制方法，能够实现车辆状态切换相关的各功能的解耦，降低整车状态切换的方案设计的复杂度，提高整车控制的可靠性。In response to the above problems, embodiments of the present application propose a vehicle control method that can realize the decoupling of various functions related to vehicle state switching, reduce the complexity of vehicle state switching scheme design, and improve the reliability of vehicle control.
下面将结合附图，对本申请中的技术方案进行描述。The technical solutions in this application will be described below with reference to the accompanying drawings.
参见图2，图2是本申请实施例提供的一种车载通信***的架构图。该***用于实现整车控制，例如，车辆的状态的切换。如图2所示，该***包括至少一个域控制器(domain controller，DC)和至少一个整车集成单元(vehicle integrated unit，VIU)，其中，DC与VIU之间，以及VIU与VIU之间通过高速以太网的网络进行连接通信，使得整车网络高效率和高可靠。Referring to Figure 2, Figure 2 is an architecture diagram of a vehicle-mounted communication system provided by an embodiment of the present application. This system is used to achieve vehicle control, for example, vehicle status switching. As shown in Figure 2, the system includes at least one domain controller (DC) and at least one vehicle integrated unit (VIU). Among them, DC and VIU and VIU and VIU are connected through The high-speed Ethernet network connects and communicates, making the vehicle network highly efficient and reliable.
车辆中的每个功能域可以有独立的域控制器。在图2中，至少一个域控制器包括整车域控制器(vehicle domain controller，VDC)、移动数据中心(mobile data center，MDC)和座舱域控制器(cockpit domain controller，CDC)。在一些可能的实施例中，MDC也可以称作高级驾驶辅助***域控制器(advanced driving assistance system domain controller，ADAS DC)或自动驾驶域控制器(automatic drive domain controller，AD DC)。Each functional domain in the vehicle can have its own domain controller. In Figure 2, at least one domain controller includes a vehicle domain controller (VDC), a mobile data center (MDC), and a cockpit domain controller (CDC). In some possible embodiments, the MDC may also be called an advanced driving assistance system domain controller (ADAS DC) or an automatic driving domain controller (automatic drive domain controller, AD DC).
其中，VDC用于为车身域内的车辆零部件以及底盘域内的车辆零部件提供服务，其中，车身域内的车辆零部件包括门窗升降控制器、电动后视镜、空调、中央门锁等；底盘域内的车辆零部件包括制动***中的车辆零部件、转向***中的车辆零部件、加速***中的车辆零部件，比如油门等。Among them, VDC is used to provide services for vehicle parts in the body domain and vehicle parts in the chassis domain. Among them, vehicle parts in the body domain include door and window lift controllers, electric rearview mirrors, air conditioners, central door locks, etc.; in the chassis domain Vehicle parts include vehicle parts in the braking system, vehicle parts in the steering system, and vehicle parts in the acceleration system, such as throttles, etc.
MDC用于为实现自动驾驶功能的车辆零部件提供服务，其中，实现自动驾驶功能的车辆零部件包括单目摄像头、双目摄像头、毫米波雷达、激光雷达、超声波雷达等。MDC is used to provide services for vehicle parts that realize automatic driving functions. Among them, vehicle parts that realize automatic driving functions include monocular cameras, binocular cameras, millimeter wave radar, lidar, ultrasonic radar, etc.
CDC用于为座舱域内的车辆零部件提供服务，其中，座舱域内的车辆零部件包括抬头显示(head-up display，HUD)、仪表显示器、收音机、导航、摄像头等。CDC is used to provide services for vehicle parts in the cockpit domain. Among them, vehicle parts in the cockpit domain include head-up display (HUD), instrument display, radio, navigation, camera, etc.
整车集成单元VIU用于管理所在区域中的电子控制单元(electronic control unit，ECU)，VIU可供相应地传感器、执行器或者ECU就近接入，实现电源供给、电子保险丝、I/O口隔离等功能。另外，VIU具有网关部分或全部的功能，例如，协议转换功能、协议封装并转发功能以及数据格式转换功能。在VIU集成了部分车辆零部件内的ECU功能时，VIU还具有电子控制功能，用于实现对相应车辆零部件的控制。在一些可能的实施例中，VIU还具有对跨车辆零部件的数据的处理功能，即可以对从多个车辆零部件的执行器获取到的数据进行计算等。可以理解，在图2中，VDC可以通过VIU1访问VIU2以及VIU4，VDC也可以通过VIU1访问VIU1接入的传感器、执行器或者ECU等。The vehicle integrated unit VIU is used to manage the electronic control unit (ECU) in the area. The VIU can be connected to the corresponding sensors, actuators or ECUs nearby to realize the isolation of power supply, electronic fuses and I/O ports. and other functions. In addition, VIU has some or all of the functions of a gateway, such as protocol conversion function, protocol encapsulation and forwarding function, and data format conversion function. When VIU integrates the ECU functions in some vehicle parts, VIU also has electronic control functions to control the corresponding vehicle parts. In some possible embodiments, VIU also has the function of processing data across vehicle components, that is, it can perform calculations on data obtained from actuators of multiple vehicle components, etc. It can be understood that in Figure 2, VDC can access VIU2 and VIU4 through VIU1, and VDC can also access sensors, actuators or ECUs connected to VIU1 through VIU1.
在一些可能的实施例中，也可以对上述VDC、MDC和CDC中的多项进行逻辑功能的融合。例如，保留VDC，仅将MDC和CDC进行融合获得能够提供自动驾驶控制功能和座舱控制功能的域控制器。又例如，保留MDC，仅将VDC和CDC进行融合获得能够提供车身控制功能和座舱控制功能的域控制器。又例如，保留CDC，仅将VDC和MDC进行融合获得能够提供车身控制功能和自动驾驶控制功能的域控制器。又例如，对VDC、MDC和CDC三者进行融合，获得能够提供车身控制功能、自动驾驶控制功能和座舱控制功能的域控制器，在此情况下，该域控制器也可以称作中央计算单元。In some possible embodiments, multiple logical functions among the above-mentioned VDC, MDC and CDC can also be integrated. For example, retain the VDC and only integrate the MDC and CDC to obtain a domain controller that can provide automatic driving control functions and cockpit control functions. Another example is to retain the MDC and only integrate the VDC and CDC to obtain a domain controller that can provide body control functions and cockpit control functions. Another example is to retain the CDC and only integrate the VDC and MDC to obtain a domain controller that can provide body control functions and automatic driving control functions. For another example, VDC, MDC, and CDC are integrated to obtain a domain controller that can provide body control functions, autonomous driving control functions, and cockpit control functions. In this case, the domain controller can also be called a central computing unit. .
图2所示的车载通信***可以应用于自动驾驶车辆、传统车辆或新能源车辆等，其中， 传统车辆是指燃油类车辆，例如可以是汽油车辆、柴油车辆等，新能源车辆例如可以是电动车辆(electric vehicle，EV)、混合动力车辆(hybrid electric vehicle，HEV)、增程式电动车辆(range extended EV)、插电式混合动力车辆(plug-in HEV)、燃料电池车辆或其他新能源车辆等，在此不作具体限定。The vehicle communication system shown in Figure 2 can be applied to autonomous vehicles, traditional vehicles or new energy vehicles. The traditional vehicle refers to a fuel vehicle, such as a gasoline vehicle, a diesel vehicle, etc., and the new energy vehicle can be an electric vehicle, for example. Vehicle (electric vehicle, EV), hybrid electric vehicle (HEV), range extended electric vehicle (range extended EV), plug-in hybrid vehicle (plug-in HEV), fuel cell vehicle or other new energy vehicle etc., no specific limitation is made here.
需要说明的是，图2仅为示例性架构图，但不限定图2所示***包括的网元的数量。虽然图2未示出，但除图2所示的功能实体外，图2还可以包括其他功能实体。另外，本申请实施例提供的方法可以应用于图2所示的通信***，当然本申请实施例提供的方法也可以适用其他通信***，本申请实施例对此不予限制。It should be noted that Figure 2 is only an exemplary architecture diagram, but does not limit the number of network elements included in the system shown in Figure 2 . Although not shown in Figure 2, in addition to the functional entities shown in Figure 2, Figure 2 may also include other functional entities. In addition, the method provided by the embodiment of the present application can be applied to the communication system shown in Figure 2. Of course, the method provided by the embodiment of the present application can also be applied to other communication systems, which is not limited by the embodiment of the present application.
参见图3，图3是本申请实施例提供的一种车辆上的功能部署示意图。基于图2所示的车载通信***架构，在图3中，管理模块可以部署在用于支撑智能驾驶的软硬件一体化平台即车载计算平台(vehicle computing platform)，例如移动数据中心(mobile data center，MDC)上，其中，管理模块具有状态管理功能，与整车状态的切换相关的多个业务模块可以分布部署在多个域控制器上，例如，业务模块21和业务模块22可以部署在用于支撑车身控制以及底盘控制的软硬件一体化平台，例如整车域控制器(vehicle domain controller，VDC)上，其中，业务模块21和业务模块22用于为车身域内的车辆零部件以及底盘域内的车辆零部件提供服务，示例性地，业务模块21例如可以为空调提供服务，业务模块22例如可以为档位传感器提供服务；业务模块23和业务模块24可以部署在用于支撑智能驾驶的软硬件一体化平台即车载计算平台(vehicle computing platform)，例如MDC上，其中，业务模块23和业务模块24用于为实现自动驾驶功能的车辆零部件提供服务，示例性地，业务模块23例如可以为单目摄像头提供服务，业务模块24例如可以为激光雷达提供服务；业务模块25可以部署在用于提供车载多媒体服务(例如，抬头显示、仪表盘显示、娱乐影音等中的至少一项)的软硬件一体化平台，例如座舱域控制器(cockpit domain controller，CDC)上，其中，业务模块25用于为座舱域内的车辆零部件提供服务，示例性地，业务模块25例如可以为仪表显示器提供服务。Referring to Figure 3, Figure 3 is a schematic diagram of functional deployment on a vehicle provided by an embodiment of the present application. Based on the vehicle communication system architecture shown in Figure 2, in Figure 3, the management module can be deployed on a software and hardware integrated platform used to support intelligent driving, that is, a vehicle computing platform (vehicle computing platform), such as a mobile data center (mobile data center) , MDC), where the management module has a status management function, and multiple business modules related to vehicle status switching can be deployed on multiple domain controllers. For example, the business module 21 and the business module 22 can be deployed on multiple domain controllers. On a software and hardware integration platform that supports body control and chassis control, such as a vehicle domain controller (VDC), the business module 21 and the business module 22 are used to provide vehicle components in the body domain and chassis domain Provide services for vehicle parts. For example, the business module 21 can provide services for air conditioners, for example, and the business module 22 can provide services for gear sensors, for example; the business module 23 and the business module 24 can be deployed on the software used to support intelligent driving. The hardware integration platform is a vehicle computing platform, such as an MDC. The business module 23 and the business module 24 are used to provide services for vehicle components that implement autonomous driving functions. For example, the business module 23 can be To provide services for monocular cameras, the business module 24 can, for example, provide services for lidar; the business module 25 can be deployed in a vehicle for providing at least one of in-vehicle multimedia services (for example, head-up display, instrument panel display, entertainment audio and video, etc.) On a software and hardware integrated platform, such as a cockpit domain controller (CDC), the business module 25 is used to provide services for vehicle parts in the cockpit domain. For example, the business module 25 can provide services for instrument displays. Serve.
示例性地，当域控制器上的业务模块检测到自身对应的车辆零部件的状态发生变化时，该业务模块向管理模块发起状态转换请求，在此情况下，管理模块基于自身的状态管理功能实现对各个域控制器上与该次状态切换关联的多个业务模块是否执行该次状态切换的协商控制，其中，协商过程具体可参考下述图6实施例的叙述，在此不再赘述。For example, when the business module on the domain controller detects that the status of its corresponding vehicle parts has changed, the business module initiates a status transition request to the management module. In this case, the management module based on its own status management function Implement negotiation control over whether multiple service modules associated with the state switch on each domain controller perform the state switch. For the specific negotiation process, please refer to the description of the embodiment in Figure 6 below, which will not be described again here.
需要说明的是，图3所示的功能部署示意图只是一种示例。在一些可能的实施例中，管理模块可以不在MDC上部署，管理模块也可以只部署在VDC或者CDC上，本申请实施例不作具体限定。It should be noted that the function deployment diagram shown in Figure 3 is just an example. In some possible embodiments, the management module may not be deployed on the MDC, or the management module may be deployed only on the VDC or CDC, which is not specifically limited in the embodiments of this application.
参见图4，图4是本申请实施例提供的又一种车辆上的功能部署示意图。相较于图3所示的车辆上的功能部署示意图，图4中与整车状态的切换相关的多个业务模块不仅可以分布部署在多个域控制器上，还可以部署在至少一个整车集成单元VIU上。Referring to Figure 4, Figure 4 is a schematic diagram of yet another functional deployment on a vehicle provided by an embodiment of the present application. Compared with the functional deployment diagram on the vehicle shown in Figure 3, the multiple business modules related to vehicle status switching in Figure 4 can not only be deployed on multiple domain controllers, but also deployed on at least one entire vehicle. On the integrated unit VIU.
在图4中，管理模块只部署在用于支撑智能驾驶的软硬件一体化平台即车载计算平台，例如移动数据中心MDC上，与整车状态的切换相关的业务模块可以分布部署在域控制器和整车集成单元上，具体地，业务模块21可以部署在用于支撑车身控制以及底盘控制的软硬件一体化平台，例如整车域控制器VDC上，业务模块22和业务模块23可以部署在用于支撑智能驾驶的软硬件一体化平台，例如移动数据中心MDC，业务模块24可以部署在用于提供车 载多媒体服务的软硬件一体化平台，例如座舱域控制器CDC上，业务模块25部署在整车集成单元上，在整车集成单元集成了部分车辆零部件内的ECU功能的情况下，业务模块25具有控制已接入整车集成单元的车辆零部件的功能。另外，管理模块、业务模块21、业务模块22、业务模块23和业务模块24具体可参考图3实施例中相应内容的叙述，在此不再赘述。In Figure 4, the management module is only deployed on the integrated software and hardware platform used to support intelligent driving, that is, the vehicle-mounted computing platform, such as the mobile data center MDC. Business modules related to vehicle status switching can be deployed on domain controllers. and the vehicle integration unit. Specifically, the business module 21 can be deployed on a software and hardware integration platform used to support body control and chassis control, such as the vehicle domain controller VDC. The business module 22 and the business module 23 can be deployed on A software and hardware integrated platform used to support intelligent driving, such as a mobile data center MDC, the business module 24 can be deployed on a software and hardware integrated platform used to provide in-vehicle multimedia services, such as a cockpit domain controller CDC, and the business module 25 is deployed on On the vehicle integration unit, when the vehicle integration unit integrates the ECU functions in some vehicle components, the business module 25 has the function of controlling the vehicle components that have been connected to the vehicle integration unit. In addition, for the details of the management module, business module 21, business module 22, business module 23, and business module 24, please refer to the description of the corresponding contents in the embodiment of FIG. 3, and will not be described again here.
示例性地，当域控制器上的业务模块或者整车集成单元上的业务模块检测到自身对应的车辆零部件的状态发生变化时，该业务模块向管理模块发起状态转换请求，在此情况下，管理模块基于自身的状态管理功能实现对该次状态切换关联的多个业务模块是否执行该次状态切换的协商控制，其中，协商过程具体可参考下述图6实施例的叙述，在此不再赘述。For example, when the business module on the domain controller or the business module on the vehicle integration unit detects that the status of its corresponding vehicle parts has changed, the business module initiates a state transition request to the management module. In this case , the management module implements negotiation control over whether multiple service modules associated with the state switch execute the state switch based on its own state management function. For the negotiation process, please refer to the description of the embodiment in Figure 6 below for details, which will not be discussed here. Again.
需要说明的是，图4所示的功能部署示意图只是一种示例。在一些可能的实施例中，管理模块也可以不在MDC上部署，管理模块也可以只部署在VDC或者CDC上。在一些可能的实施例中，与整车状态的切换相关的多个业务模块也可以只部署在多个整车集成单元上，本申请实施例不作具体限定。It should be noted that the functional deployment diagram shown in Figure 4 is just an example. In some possible embodiments, the management module may not be deployed on the MDC, and the management module may be deployed only on the VDC or CDC. In some possible embodiments, multiple business modules related to vehicle status switching may also be deployed only on multiple vehicle integration units, which are not specifically limited in the embodiments of this application.
参见图5，图5是本申请实施例提供的又一种车辆上的功能部署示意图。图5所示的车辆上有两个域控制器，其中一个为融合了上述VDC功能和MDC功能的域控制器(相当于对图3中的VDC和MDC进行融合获得)，即该域控制器能够提供车身控制功能和自动驾驶控制功能，另一个为座舱域控制器CDC。示例性地，管理模块可以部署在用于支撑智能驾驶、车身控制以及底盘控制的软硬件一体化平台，例如图5所示的融合了VDC功能和MDC功能的域控制器上，与整车状态的切换相关的多个业务模块分布部署在图5所示的多个控制器上，具体地，业务模块21、业务模块22、业务模块23和业务模块24可以部署在用于支撑智能驾驶、车身控制以及底盘控制的软硬件一体化平台，例如图5所示的融合了VDC功能和MDC功能的域控制器上，业务模块25可以部署在用于提供车载多媒体服务的软硬件一体化平台，例如CDC上。有关管理模块、业务模块21、业务模块22、业务模块23、业务模块24和业务模块25具体可参考图3实施例中相应内容的叙述，有关管理模块与至少一个业务模块之间协商交互过程具体可参考下述图6实施例中的相关叙述，在此不再赘述。Referring to Figure 5, Figure 5 is a schematic diagram of yet another functional deployment on a vehicle provided by an embodiment of the present application. There are two domain controllers on the vehicle shown in Figure 5, one of which is a domain controller that integrates the above VDC function and MDC function (equivalent to the fusion of VDC and MDC in Figure 3), that is, the domain controller It can provide body control functions and automatic driving control functions, and the other is the cockpit domain controller CDC. For example, the management module can be deployed on a software and hardware integrated platform used to support intelligent driving, body control, and chassis control, such as the domain controller that integrates VDC functions and MDC functions as shown in Figure 5, and the vehicle status Multiple business modules related to switching are distributed and deployed on multiple controllers shown in Figure 5. Specifically, the business module 21, the business module 22, the business module 23, and the business module 24 can be deployed on the controller to support intelligent driving, vehicle body, etc. A software and hardware integrated platform for control and chassis control, such as the domain controller that integrates VDC functions and MDC functions as shown in Figure 5. The business module 25 can be deployed on a software and hardware integrated platform for providing in-vehicle multimedia services, such as on the CDC. For details about the management module, business module 21, business module 22, business module 23, business module 24 and business module 25, please refer to the description of the corresponding content in the embodiment of Figure 3. For details about the negotiation and interaction process between the management module and at least one business module Reference may be made to the relevant descriptions in the embodiment of FIG. 6 below, which will not be described again here.
需要说明的是，图5所示的功能部署示意图只是一种示例。在一些可能的实施例中，管理模块可以不在融合了VDC功能和MDC功能的域控制器上部署，而是部署在CDC上。It should be noted that the function deployment diagram shown in Figure 5 is just an example. In some possible embodiments, the management module may not be deployed on a domain controller that integrates VDC functions and MDC functions, but may be deployed on a CDC.
在一些可能的实施例中，图5所示的域控制器还可以是其他融合方式。例如，图5中的域控制器包括融合了VDC功能和CDC功能的域控制器和MDC，在此情况下，管理模块可以部署在其中任意一个域控制器上。又例如，图5中的域控制器包括融合了MDC功能和CDC功能的域控制器和VDC，在此情况下，管理模块可以部署在其中任意一个域控制器上。又例如，图5中的域控制器仅为融合了VDC功能、MDC功能和CDC功能的域控制器，在此情况下，管理模块部署在该域控制器上。In some possible embodiments, the domain controller shown in Figure 5 can also be integrated in other ways. For example, the domain controller in Figure 5 includes domain controllers and MDCs that integrate VDC functions and CDC functions. In this case, the management module can be deployed on any one of the domain controllers. As another example, the domain controller in Figure 5 includes domain controllers and VDCs that integrate MDC functions and CDC functions. In this case, the management module can be deployed on any one of the domain controllers. For another example, the domain controller in Figure 5 is only a domain controller that integrates VDC functions, MDC functions, and CDC functions. In this case, the management module is deployed on the domain controller.
基于上述图3-图5可以看出，管理模块的数量仅为一个，即图3-图5所示的均为集中式的功能部署示意图。在一些可能的实施例中，管理模块的数量也可以为多个，例如，每个域控制上部署一个管理模块，在此情况下，该管理模块仅用于协调管理该管理模块所在的域控制器上的各个业务模块之间对于车辆的状态是否切换的协商，其中，管理模块与各个业务模块之间的协商过程可以参考下述图6实施例的相关叙述，在此不再赘述。Based on the above-mentioned Figures 3 to 5, it can be seen that the number of management modules is only one, that is, the diagrams shown in Figures 3 to 5 are centralized function deployment diagrams. In some possible embodiments, the number of management modules may also be multiple. For example, one management module is deployed on each domain control. In this case, the management module is only used to coordinate and manage the domain control where the management module is located. The various business modules on the controller negotiate whether to switch the vehicle status. The negotiation process between the management module and each business module can be referred to the following description of the embodiment in Figure 6 and will not be described again here.
参见图6，图6是本申请实施例提供的一种整车控制方法的流程图，应用于管理模块和至少一个业务模块组成的通信***。该方法包括但不限于以下步骤：Referring to Figure 6, Figure 6 is a flow chart of a vehicle control method provided by an embodiment of the present application, which is applied to a communication system composed of a management module and at least one business module. The method includes but is not limited to the following steps:
S601：管理模块发送协商请求。S601: The management module sends a negotiation request.
在本申请实施例中，管理模块向至少一个业务模块发送协商请求，协商请求用于咨询业务模块是否同意将车辆的状态由第一状态切换为第二状态。In this embodiment of the present application, the management module sends a negotiation request to at least one business module. The negotiation request is used to consult the business module whether it agrees to switch the vehicle's state from the first state to the second state.
这里，车辆的状态可以理解为包括：用户在使用车辆的过程中车辆对外呈现的状态或模式。示例性地，车辆的状态可以分为待车状态、行车状态、舒适状态、充电状态(针对电动车辆)、停车状态等中的一项或多项。其中，待车状态可以表示车辆已解锁但车辆未启动，行车状态可以表示车辆已启动且在行驶过程中，舒适状态可以表示车辆在行驶过程中开启了空调，充电状态可以表示车辆未解锁但当前正在充电，停车状态可以表示车辆未解锁。在一些可能的实施例中，车辆的状态也可以称为车辆状态、整车状态、车辆的模式或者整车模式，在此不作具体限定。Here, the status of the vehicle can be understood to include: the status or mode that the vehicle presents to the outside world when the user is using the vehicle. For example, the state of the vehicle can be divided into one or more of a waiting state, a driving state, a comfort state, a charging state (for electric vehicles), a parking state, and the like. Among them, the waiting state can mean that the vehicle is unlocked but not started, the driving state can mean that the vehicle has been started and is driving, the comfort state can mean that the air conditioner is turned on while the vehicle is driving, and the charging state can mean that the vehicle is not unlocked but is currently running. Charging and parking status can indicate that the vehicle is not unlocked. In some possible embodiments, the state of the vehicle may also be called vehicle state, complete vehicle state, vehicle mode or complete vehicle mode, which is not specifically limited here.
示例性地，由第一状态切换为第二状态例如可以是由待车状态切换为行车状态、由行车状态切换为舒适状态、由舒适状态切换为行车状态、由行车状态切换为停车状态、由舒适状态切换为停车状态、由停车状态切换为充电状态等中的任意一种。可以理解，此处只是对于车辆状态的切换的示例，本申请实施例并不限定车辆状态的切换仅为上述示例。For example, switching from the first state to the second state may be switching from the waiting state to the driving state, from the driving state to the comfort state, from the comfort state to the driving state, from the driving state to the parking state, from Switching from the comfort state to the parking state, switching from the parking state to the charging state, etc. It can be understood that this is only an example of switching the vehicle state, and the embodiment of the present application does not limit the switching of the vehicle state to the above-mentioned example.
其中，上述至少一个业务模块可以理解为与车辆状态由第一状态切换为第二状态相关的业务模块，至少一个业务模块中的每个业务模块承载有相应地业务，在一些可能的实施例中，业务也可以称为应用、功能或服务。一种实现方式中，第一业务模块承载有相应的业务，可以包括：相应的业务对应的数据、处理过程中的至少一项可以通过该第一业务模块实现。示例性地，至少一个业务模块包括图6中的业务模块21、业务模块22、…、业务模块2n这n个业务模块，n为大于等于1的整数。Wherein, the above-mentioned at least one service module can be understood as a service module related to the vehicle state switching from the first state to the second state. Each service module in the at least one service module carries a corresponding service. In some possible embodiments , a business can also be called an application, function, or service. In an implementation manner, the first service module carries corresponding services, which may include: data corresponding to the corresponding services, and at least one of the processing procedures may be implemented through the first service module. Illustratively, at least one service module includes n service modules including service module 21, service module 22, ..., and service module 2n in Figure 6, where n is an integer greater than or equal to 1.
以一个具体的例子说明与车辆状态的切换相关的业务模块：A specific example is used to illustrate the business modules related to vehicle status switching:
例如，假设第一状态为待车状态，第二状态为行车状态，则与车辆的状态由待车状态切换为行车状态相关的业务模块包括但不限于：用于承载档位监测业务的模块、用于承载制动踏板踩踏监测业务的模块、用于承载蓄电池电量监测业务的模块、用于承载充电口监测业务的模块等。For example, assuming that the first state is the waiting state and the second state is the driving state, the business modules related to the vehicle's status switching from the waiting state to the driving state include but are not limited to: modules for carrying gear monitoring services, Modules used to carry the brake pedal pedal monitoring business, modules used to carry the battery power monitoring business, modules used to carry the charging port monitoring business, etc.
在一些可能的实施例中，管理模块还可以向上述至少一个业务模块发送优先级指示信息，优先级指示信息用于指示第二状态的优先级。第二状态的优先级表示切换至第二状态这一事件的紧急程度或紧迫程度，第二状态的优先级越高，意味着切换至第二状态这一事件越紧迫。优先级指示信息可以用于强制业务模块同意将车辆的状态由第一状态切换为第二状态，具体参考下述S602中的相关叙述。In some possible embodiments, the management module may also send priority indication information to the above-mentioned at least one service module, where the priority indication information is used to indicate the priority of the second state. The priority of the second state indicates the urgency or urgency of the event of switching to the second state. The higher the priority of the second state, the more urgent the event of switching to the second state. The priority indication information can be used to force the business module to agree to switch the vehicle's state from the first state to the second state. For details, refer to the relevant description in S602 below.
示例性地，优先级指示信息可以通过标识、比特映射或二进制取值等方式来指示第二状态的优先级。例如，参见表1，表1示例性地提供了一种优先级取值与第二状态的优先级之间的映射表。由表1可知，当优先级取值为第一值时，第二状态的优先级为等级一；当优先级取值为第二值时，第二状态的优先级为等级二；当优先级取值为第三值时，第二状态的优先级为等级三。示例性地，第一值大于第二值，第二值大于第三值，等级一高于等级二，等级二高于等级三。For example, the priority indication information may indicate the priority of the second state through identification, bit mapping, or binary value. For example, see Table 1, which exemplarily provides a mapping table between priority values and priorities of the second state. It can be seen from Table 1 that when the priority value is the first value, the priority of the second state is level one; when the priority value is the second value, the priority of the second state is level two; when the priority value is When the value is the third value, the priority of the second state is level three. For example, the first value is greater than the second value, the second value is greater than the third value, level one is higher than level two, and level two is higher than level three.
表1Table 1
优先级取值priority value 第二状态的优先级Second state priority
第一值first value 等级一Level one
第二值second value 等级二Level 2
第三值third value 等级三Level three
可以理解，上述表1仅作为一个示例，以体现优先级取值与第二状态的优先级之间的对应关系，在实际应用中，该对应关系的文字内容和存储方式还可以是其他形式，在此不作具体限定。It can be understood that the above Table 1 is only used as an example to reflect the correspondence between the priority value and the priority of the second state. In practical applications, the text content and storage method of the correspondence can also be in other forms. There is no specific limitation here.
一种实现方式中，管理模块以组播的方式向至少一个业务模块发送协商请求。在此情况下，每个接收到协商请求的业务模块可以基于该协商请求判断自身是否同意将车辆的状态由第一状态切换为第二状态。In one implementation manner, the management module sends a negotiation request to at least one service module in a multicast manner. In this case, each service module that receives the negotiation request can determine whether it agrees to switch the vehicle's state from the first state to the second state based on the negotiation request.
另一种实现方式中，管理模块以单播的方式向至少一个业务模块中的每个业务模块发送协商请求。例如，管理模块向业务模块21发送协商请求1，管理模块向业务模块22发送协商请求2，…，管理模块向业务模块2n发送协商请求n，其中，协商请求1用于咨询业务模块21是否同意将车辆的状态由第一状态切换为第二状态，协商请求2用于咨询业务模块22是否同意将车辆的状态由第一状态切换为第二状态，协商请求n用于咨询业务模块2n是否同意将车辆的状态由第一状态切换为第二状态。In another implementation manner, the management module sends a negotiation request to each service module in at least one service module in a unicast manner. For example, the management module sends negotiation request 1 to the business module 21, the management module sends negotiation request 2 to the business module 22, ..., the management module sends negotiation request n to the business module 2n, where the negotiation request 1 is used to consult the business module 21 whether to agree. To switch the state of the vehicle from the first state to the second state, the negotiation request 2 is used to consult the business module 22 whether it agrees to switch the state of the vehicle from the first state to the second state, and the negotiation request n is used to consult the business module 2n whether it agrees. Switch the state of the vehicle from the first state to the second state.
另一种实现方式中，管理模块还可以以广播的方式发送协商请求，则接收到该协商请求的业务模块不仅包括上述至少一个业务模块，还可能包括与车辆的状态由第一状态切换为第二状态无关的业务模块，在此情况下，与车辆的状态由第一状态切换为第二状态无关的业务模块可以忽略该协商请求，即不响应该协商请求。In another implementation, the management module may also send a negotiation request in a broadcast manner, and the business module that receives the negotiation request not only includes at least one of the above business modules, but may also switch the state of the vehicle from the first state to the third state. The service module has nothing to do with the two states. In this case, the service module that has nothing to do with the vehicle's state switching from the first state to the second state can ignore the negotiation request, that is, not respond to the negotiation request.
在一些可能的实施例中，管理模块发送协商请求，包括：管理模块接收目标业务模块发送的状态转换请求，目标业务模块包含于上述至少一个业务模块中，状态转换请求用于请求将车辆的状态由第一状态切换为第二状态；响应于状态转换请求，管理模块发送协商请求。也就是说，管理模块发送协商请求是有触发条件的。In some possible embodiments, the management module sends a negotiation request, including: the management module receives a state transition request sent by a target business module, the target business module is included in at least one of the above business modules, and the state transition request is used to request to change the vehicle's status. Switch from the first state to the second state; in response to the state transition request, the management module sends a negotiation request. In other words, there are trigger conditions for the management module to send a negotiation request.
可选地，在一些可能的实施例中，在执行S601之前，还可以执行S600，目标业务模块以业务模块21为例：Optionally, in some possible embodiments, before executing S601, S600 may also be executed. The target business module takes business module 21 as an example:
S600：业务模块21向管理模块发送状态转换请求。S600: The business module 21 sends a state transition request to the management module.
其中，状态转换请求用于请求将车辆的状态由第一状态切换为第二状态。The state transition request is used to request to switch the state of the vehicle from the first state to the second state.
相应地，管理模块接收业务模块21发送的状态转换请求。在此情况下，管理模块发送协商请求，具体为：响应于状态转换请求，管理模块发送协商请求。也就是说，协商请求与状态转换请求相关联，或者，协商请求为管理模块基于状态转换请求发送的。Correspondingly, the management module receives the state transition request sent by the business module 21. In this case, the management module sends a negotiation request, specifically: in response to the state transition request, the management module sends a negotiation request. That is to say, the negotiation request is associated with the state transition request, or the negotiation request is sent by the management module based on the state transition request.
一种实现方式中，业务模块21向管理模块发送状态转换请求，包括：在业务模块21检测到自身对应的车辆零部件的状态发生变化的情况下，业务模块21向管理模块发送状态转换请求。In one implementation, the business module 21 sends a state transition request to the management module, which includes: when the business module 21 detects a change in the state of its corresponding vehicle component, the business module 21 sends a state transition request to the management module.
示例性地，业务模块21对应的车辆零部件为制动踏板，即业务模块承载了制动踏板踩踏监测业务，业务模块21检测到制动踏板的状态发生变化，例如由未踩踏变化至被踩踏，在此情况下，业务模块21可以向管理模块发送状态转换请求。For example, the vehicle component corresponding to the business module 21 is the brake pedal, that is, the business module carries the brake pedal depression monitoring service, and the business module 21 detects that the status of the brake pedal changes, for example, from not being stepped on to being stepped on. , in this case, the business module 21 can send a state transition request to the management module.
S602：至少一个业务模块向管理模块发送协商反馈。S602: At least one business module sends negotiation feedback to the management module.
其中，协商反馈用于指示该业务模块是否同意将车辆的状态由第一状态切换为第二状态。The negotiation feedback is used to indicate whether the service module agrees to switch the vehicle's state from the first state to the second state.
具体地，至少一个业务模块向管理模块发送协商反馈，包括：业务模块21向管理模块发送协商反馈1，业务模块22向管理模块发送协商反馈2，…，业务模块2n向管理模块发送协 商反馈n，其中，协商反馈1用于指示业务模块21是否同意将车辆的状态由第一状态切换为第二状态，协商反馈2用于指示业务模块22是否同意将车辆的状态由第一状态切换为第二状态，协商反馈n用于指示业务模块2n是否同意将车辆的状态由第一状态切换为第二状态。Specifically, at least one business module sends negotiation feedback to the management module, including: the business module 21 sends negotiation feedback 1 to the management module, the business module 22 sends negotiation feedback 2 to the management module, ..., and the business module 2n sends negotiation feedback n to the management module. , wherein the negotiation feedback 1 is used to indicate whether the service module 21 agrees to switch the vehicle's state from the first state to the second state, and the negotiation feedback 2 is used to indicate whether the service module 22 agrees to switch the vehicle's state from the first state to the second state. In the second state, the negotiation feedback n is used to indicate whether the service module 2n agrees to switch the vehicle's state from the first state to the second state.
一种实现方式中，业务模块对应的协商反馈与该业务模块接收到的协商请求相关联。具体地，上述至少一个业务模块接收到来自管理模块的协商请求后，上述至少一个业务模块中的每个业务模块根据该协商请求判断自身对应的车辆零部件的状态是否满足车辆的状态由第一状态切换为第二状态所需的条件，获得该业务模块对应的协商反馈。In one implementation, the negotiation feedback corresponding to the business module is associated with the negotiation request received by the business module. Specifically, after the above-mentioned at least one business module receives a negotiation request from the management module, each of the above-mentioned at least one business modules determines based on the negotiation request whether the status of its corresponding vehicle parts satisfies the status of the vehicle determined by the first Conditions required to switch the state to the second state and obtain negotiation feedback corresponding to the business module.
示例性地，当业务模块确定自身对应的车辆零部件的状态满足车辆的状态由第一状态切换为第二状态所需的条件时，该业务模块对应的协商反馈指示同意将车辆的状态由第一状态切换为第二状态；当业务模块确定自身对应的车辆零部件的状态不满足车辆的状态由第一状态切换为第二状态所需的条件时，该业务模块对应的协商反馈指示不同意将车辆的状态由第一状态切换为第二状态。For example, when the business module determines that the status of its corresponding vehicle parts meets the conditions required for the vehicle's status to switch from the first state to the second state, the corresponding negotiation feedback indication of the business module agrees to change the vehicle's status from the first state to the second state. One state switches to the second state; when the business module determines that the state of its corresponding vehicle parts does not meet the conditions required for the vehicle's state to switch from the first state to the second state, the corresponding negotiation feedback indication of the business module does not agree. Switch the state of the vehicle from the first state to the second state.
以业务模块21和业务模块22为例说明业务模块获得协商反馈的过程：假设第一状态为待车状态，第二状态为行车状态，业务模块21为承载制动踏板监测业务的模块，业务模块22为承载蓄电池电量监测业务的模块，则业务模块21获得协商反馈1的过程可参考下述情况1，业务模块22获得协商反馈2的过程可参考下述情况2。Taking business module 21 and business module 22 as an example to illustrate the process of the business module obtaining negotiation feedback: Assume that the first state is the waiting state, the second state is the driving state, the business module 21 is a module that carries the brake pedal monitoring service, and the business module 22 is a module that carries the battery power monitoring service. The process for the service module 21 to obtain negotiation feedback 1 can refer to the following situation 1, and the process for the service module 22 to obtain the negotiation feedback 2 can refer to the following situation 2.
情况1：Case 1:
业务模块21确定自身对应的车辆零部件的状态是否满足车辆的状态由第一状态切换为第二状态所需的条件，获得协商反馈1是指：业务模块21确定制动踏板当前是否被踩踏，获得协商反馈1，具体地，若确定制动踏板当前被踩踏，则协商反馈1指示业务模块21同意将车辆的状态由待车状态切换为行车状态；若确定制动踏板当前未被踩踏，则协商反馈1指示业务模块21不同意将车辆的状态由待车状态切换为行车状态。The business module 21 determines whether the status of its corresponding vehicle parts meets the conditions required for the vehicle's status to switch from the first state to the second state. Obtaining negotiation feedback 1 means: the business module 21 determines whether the brake pedal is currently stepped on, Obtain negotiation feedback 1. Specifically, if it is determined that the brake pedal is currently stepped on, then negotiation feedback 1 instructs the business module 21 to agree to switch the vehicle's state from the waiting state to the driving state; if it is determined that the brake pedal is currently not stepped on, then Negotiation feedback 1 indicates that the business module 21 does not agree to switch the vehicle's status from the waiting state to the driving state.
情况2：Case 2:
业务模块22确定自身对应的车辆零部件的状态是否满足车辆的状态由第一状态切换为第二状态所需的条件，获得协商反馈2是指：业务模块22确定蓄电池的电量是否不小于预设电量阈值，获得协商反馈2，具体地，若确定蓄电池的电量不小于预设电量阈值，则协商反馈2指示业务模块22同意将车辆的状态由待车状态切换为行车状态；若确定蓄电池的电量小于预设电量阈值，则协商反馈2指示业务模块22不同意将车辆的状态由待车状态切换为行车状态。The business module 22 determines whether the status of its corresponding vehicle parts meets the conditions required for the vehicle's status to switch from the first state to the second state. Obtaining the negotiation feedback 2 means: the business module 22 determines whether the battery power is not less than the preset value. The power threshold is obtained, and negotiation feedback 2 is obtained. Specifically, if it is determined that the power of the battery is not less than the preset power threshold, negotiation feedback 2 instructs the business module 22 to agree to switch the vehicle's status from the standby state to the driving state; if it is determined that the power of the battery is not less than the preset power threshold, is less than the preset power threshold, the negotiation feedback 2 indicates that the service module 22 does not agree to switch the vehicle's status from the waiting state to the driving state.
由此可以看出，不同的业务模块获得协商反馈时基于的判断条件是不同的，例如，业务模块21对应的判断条件为制动踏板当前是否被踩踏，业务模块22对应的判断条件为蓄电池的电量是否不小于预设电量阈值，也就是说，业务模块获得协商反馈时只需关注与自身相关的车辆状态切换所需的条件，实现了状态控制相关的功能的分解，降低了各业务模块的功能之间的耦合度，降低了整车***的复杂性。It can be seen from this that the judgment conditions based on different business modules when obtaining negotiation feedback are different. For example, the judgment condition corresponding to the business module 21 is whether the brake pedal is currently stepped on, and the judgment condition corresponding to the business module 22 is whether the battery is. Whether the power is not less than the preset power threshold, that is to say, when the business module obtains negotiation feedback, it only needs to pay attention to the conditions required for vehicle status switching related to itself, realizing the decomposition of functions related to status control and reducing the cost of each business module. The coupling between functions reduces the complexity of the entire vehicle system.
另一种实现方式中，业务模块还接收到管理模块发送的优先级指示信息，优先级指示信息用于指示第二状态的优先级，在此情况下，业务模块对应的协商反馈与该业务模块接收到的协商请求和优先级指示信息相关联。具体地，业务模块根据接收到的协商请求和优先级指示信息获得该业务模块对应的协商反馈。In another implementation, the business module also receives the priority indication information sent by the management module. The priority indication information is used to indicate the priority of the second state. In this case, the negotiation feedback corresponding to the business module is the same as that of the business module. The received negotiation request is associated with the priority indication information. Specifically, the service module obtains the negotiation feedback corresponding to the service module according to the received negotiation request and priority indication information.
示例性地，当业务模块确定自身对应的车辆零部件的状态不满足车辆的状态由第一状态 切换为第二状态所需的条件，且优先级指示信息指示的第二状态的优先级大于预设阈值或者优先级指示信息指示的第二状态的优先级高于第一状态的优先级的情况下，该业务模块对应的协商反馈指示该业务模块同意将车辆的状态由第一状态切换为第二状态。可以看出，基于优先级指示信息可以强制业务模块同意将车辆的状态由第一状态切换为第二状态，如此，在切换至第二状态较紧急时，可以通过优先级指示信息影响相关业务模块对应的协商反馈，从而实现整车状态的控制。For example, when the business module determines that the status of its corresponding vehicle parts does not meet the conditions required for the vehicle's status to switch from the first status to the second status, and the priority of the second status indicated by the priority indication information is greater than the predetermined If the priority of the second state indicated by the threshold or priority indication information is higher than the priority of the first state, the corresponding negotiation feedback of the service module indicates that the service module agrees to switch the state of the vehicle from the first state to the third state. Two states. It can be seen that based on the priority indication information, the business module can be forced to agree to switch the vehicle's state from the first state to the second state. In this way, when switching to the second state is urgent, the priority indication information can be used to influence the relevant business modules. Corresponding negotiation feedback is achieved to control the status of the entire vehicle.
示例性地，当业务模块确定自身对应的车辆零部件的状态不满足车辆的状态由第一状态切换为第二状态所需的条件，且优先级指示信息指示的第二状态的优先级小于预设阈值或者优先级指示信息指示的第二状态的优先级不高于第一状态的优先级的情况下，该业务模块对应的协商反馈指示该业务模块不同意将车辆的状态由第一状态切换为第二状态。For example, when the business module determines that the status of its corresponding vehicle parts does not meet the conditions required for the vehicle's status to switch from the first status to the second status, and the priority of the second status indicated by the priority indication information is smaller than the predetermined If the priority of the second state indicated by the threshold or priority indication information is not higher than the priority of the first state, the corresponding negotiation feedback of the business module indicates that the business module does not agree to switch the vehicle's state from the first state. is the second state.
示例性地，当业务模块确定自身对应的车辆零部件的状态满足车辆的状态由第一状态切换为第二状态所需的条件时，该业务模块对应的协商反馈指示该业务模块同意将车辆的状态由第一状态切换为第二状态。For example, when the business module determines that the status of its corresponding vehicle parts meets the conditions required for the vehicle's status to switch from the first state to the second state, the corresponding negotiation feedback of the business module indicates that the business module agrees to change the vehicle's status. The state is switched from the first state to the second state.
S603：管理模块向至少一个业务模块发送协商结果。S603: The management module sends the negotiation result to at least one service module.
其中，协商结果是基于上述至少一个业务模块的协商反馈获得的。换句话说，协商结果与上述至少一个业务模块中每个业务模块发送的协商反馈相关联。The negotiation result is obtained based on the negotiation feedback of at least one of the above service modules. In other words, the negotiation result is associated with the negotiation feedback sent by each of the above-mentioned at least one service module.
示例性地，在上述至少一个业务模块中每个业务模块的协商反馈均指示同意将车辆的状态由第一状态切换为第二状态的情况下，协商结果指示执行车辆的状态的切换。在上述至少一个业务模块中有一个业务模块的协商反馈指示不同意将车辆的状态由第一状态切换为第二状态的情况下，协商结果指示不执行车辆的状态的切换。For example, in the case where the negotiation feedback of each of the above-mentioned at least one service module indicates agreement to switch the vehicle's state from the first state to the second state, the negotiation result indicates that the vehicle's state is switched. In the case where the negotiation feedback of one of the above-mentioned at least one service modules indicates that the vehicle's state is not switched from the first state to the second state, the negotiation result indicates that the vehicle's state switching is not performed.
一种实现方式中，协商结果可以是管理模块以单播、组播或广播中的任一方式发送的，在此不作具体限定。In one implementation, the negotiation result may be sent by the management module in any manner including unicast, multicast, or broadcast, which is not specifically limited here.
S604：在协商结果指示执行车辆的状态的切换的情况下，各个业务模块将车辆的状态由第一状态切换为第二状态。S604: When the negotiation result indicates that the vehicle's state is switched, each service module switches the vehicle's state from the first state to the second state.
具体地，至少一个业务模块中的每个业务模块接收到协商结果后，在协商结果指示执行车辆的状态的切换的情况下，每个业务模块将车辆的状态由第一状态切换为第二状态，也就是说，每个业务模块从第一状态退出并进入第二状态。Specifically, after each service module in the at least one service module receives the negotiation result, if the negotiation result indicates that the state of the vehicle is to be switched, each service module switches the state of the vehicle from the first state to the second state. , that is, each business module exits from the first state and enters the second state.
在一些可能的实施例中，在协商结果指示不执行车辆的状态的切换的情况下，上述至少一个业务模块中的每个业务模块不执行车辆的状态的切换，即车辆的状态仍保持在第一状态。In some possible embodiments, when the negotiation result indicates that the switching of the vehicle's status is not performed, each of the above-mentioned at least one service modules does not perform the switching of the vehicle's status, that is, the vehicle's status remains in the third state. One state.
可以看到，实施本申请实施例，通过基于多个功能解耦的业务模块之间的协调控制实现车辆状态的切换，降低了整车各功能之间的耦合度，不仅降低了车辆***的复杂性，还提高了整车控制的可靠性。It can be seen that by implementing the embodiments of the present application, vehicle status switching is realized through coordinated control between business modules based on multiple functional decouplings, which reduces the coupling degree between various functions of the vehicle and not only reduces the complexity of the vehicle system. It also improves the reliability of vehicle control.
参见图7，图7是本申请实施例提供的一种通信装置的结构示意图，通信装置30包括发送单元310和接收单元312。该通信装置30可以通过硬件、软件或者软硬件结合的方式来实现。Referring to FIG. 7 , FIG. 7 is a schematic structural diagram of a communication device provided by an embodiment of the present application. The communication device 30 includes a sending unit 310 and a receiving unit 312 . The communication device 30 can be implemented by hardware, software, or a combination of software and hardware.
其中，发送单元310，用于向第一业务模块发送第一协商请求，第一协商请求用于咨询第一业务模块是否同意将车辆的状态由第一状态切换为第二状态；接收单元312，用于接收第一业务模块发送的第一协商反馈，第一协商反馈与第一协商请求相关联。Among them, the sending unit 310 is used to send a first negotiation request to the first business module, and the first negotiation request is used to consult the first business module whether it agrees to switch the state of the vehicle from the first state to the second state; the receiving unit 312, Used to receive the first negotiation feedback sent by the first service module, where the first negotiation feedback is associated with the first negotiation request.
该通信装置30可用于实现图6实施例所描述的管理模块侧的方法。在图6实施例中，发 送单元310可用于执行S601，接收单元312可用于执行S602。在一些可能的实施例中，发送单元310还可用于执行S603，接收单元312还可用于执行S600。The communication device 30 can be used to implement the method on the management module side described in the embodiment of FIG. 6 . In the embodiment of Figure 6, the sending unit 310 can be used to perform S601, and the receiving unit 312 can be used to perform S602. In some possible embodiments, the sending unit 310 can also be used to perform S603, and the receiving unit 312 can also be used to perform S600.
以上图7所示实施例中的各个单元的一个或多个可以软件、硬件、固件或其结合实现。所述软件或固件包括但不限于计算机程序指令或代码，并可以被硬件处理器所执行。所述硬件包括但不限于各类集成电路，如中央处理单元(central processing unit，CPU)、数字信号处理器(digital signal processor，DSP)、现场可编程门阵列(field-programmable gate array，FPGA)或专用集成电路(application-specific integrated circuit，ASIC)。One or more of the various units in the embodiment shown in FIG. 7 above may be implemented in software, hardware, firmware, or a combination thereof. The software or firmware includes, but is not limited to, computer program instructions or code, and may be executed by a hardware processor. The hardware includes but is not limited to various types of integrated circuits, such as central processing unit (CPU), digital signal processor (DSP), field-programmable gate array (FPGA) Or application-specific integrated circuit (ASIC).
参见图8，图8是本申请实施例提供的一种通信装置的结构示意图，通信装置40包括接收单元410和发送单元412。该通信装置40可以通过硬件、软件或者软硬件结合的方式来实现。Referring to FIG. 8 , FIG. 8 is a schematic structural diagram of a communication device provided by an embodiment of the present application. The communication device 40 includes a receiving unit 410 and a sending unit 412 . The communication device 40 can be implemented by hardware, software, or a combination of software and hardware.
其中，接收单元410，用于接收管理模块发送的第一协商请求，第一协商请求用于咨询第一业务模块是否同意将车辆的状态由第一状态切换为第二状态；发送单元412，用于基于第一协商请求向管理模块发送第一协商反馈。Among them, the receiving unit 410 is used to receive the first negotiation request sent by the management module. The first negotiation request is used to consult the first business module whether it agrees to switch the state of the vehicle from the first state to the second state; the sending unit 412 is used to and sending a first negotiation feedback to the management module based on the first negotiation request.
该通信装置40可用于实现图6实施例所描述的业务侧的方法。在图6实施例中，接收单元410可用于执行S601和S603，发送单元412可用于执行S602和S600。在一些可能的实施例中，该通信装置40还包括处理单元(图未示)，处理单元可以用于执行S604。The communication device 40 can be used to implement the method on the business side described in the embodiment of FIG. 6 . In the embodiment of Figure 6, the receiving unit 410 can be used to perform S601 and S603, and the sending unit 412 can be used to perform S602 and S600. In some possible embodiments, the communication device 40 further includes a processing unit (not shown), and the processing unit may be used to perform S604.
以上图8所示实施例中的各个单元的一个或多个可以软件、硬件、固件或其结合实现。所述软件或固件包括但不限于计算机程序指令或代码，并可以被硬件处理器所执行。所述硬件包括但不限于各类集成电路，如中央处理单元(central processing unit，CPU)、数字信号处理器(digital signal processor，DSP)、现场可编程门阵列(field-programmable gate array，FPGA)或专用集成电路(application-specific integrated circuit，ASIC)。One or more of the various units in the embodiment shown in FIG. 8 above can be implemented in software, hardware, firmware, or a combination thereof. The software or firmware includes, but is not limited to, computer program instructions or code, and may be executed by a hardware processor. The hardware includes but is not limited to various types of integrated circuits, such as central processing unit (CPU), digital signal processor (DSP), field-programmable gate array (FPGA) Or application-specific integrated circuit (ASIC).
参见图9，图9是本申请实施例提供的一种通信设备。Referring to Figure 9, Figure 9 is a communication device provided by an embodiment of the present application.
如图9所示，通信设备50包括：处理器501、通信接口502、存储器503和总线504。处理器501、存储器503和通信接口502之间通过总线504通信。应理解，本申请不限定通信设备50中的处理器、存储器的个数。As shown in FIG. 9 , the communication device 50 includes: a processor 501 , a communication interface 502 , a memory 503 and a bus 504 . The processor 501, the memory 503 and the communication interface 502 communicate through the bus 504. It should be understood that this application does not limit the number of processors and memories in the communication device 50 .
一种实现方式中，通信设备50也用于实现上述图6实施例所述的管理模块侧的方法，在此情况下，通信设备50可以是上述实施例中的域控制器，域控制器例如可以是整车域控制器(vehicle domain controller，VDC)、移动数据中心(mobile data center，MDC)、座舱域控制器(cockpit domain controller，CDC)、融合了VDC功能和MDC功能的域控制器、融合了VDC功能和CDC功能的域控制器、融合了MDC功能和CDC功能的域控制器和融合了VDC功能、MDC功能和CDC功能的域控制器中的任意一种。通信设备50也可以是上述域控制器内的组件，例如，芯片、线卡或集成电路等。In one implementation, the communication device 50 is also used to implement the method on the management module side described in the embodiment of FIG. 6. In this case, the communication device 50 may be the domain controller in the above embodiment. The domain controller, for example, It can be a vehicle domain controller (VDC), a mobile data center (MDC), a cockpit domain controller (CDC), a domain controller that integrates VDC functions and MDC functions, Any one of domain controllers that integrate VDC functions and CDC functions, domain controllers that integrate MDC functions and CDC functions, or domain controllers that integrate VDC functions, MDC functions, and CDC functions. The communication device 50 may also be a component within the above-mentioned domain controller, such as a chip, a line card or an integrated circuit.
在一些可能的实施例中，通信设备50也用于实现上述图6实施例所述的业务模块侧的方法，在此情况下，通信设备50也可以是上述实施例中的域控制器，域控制器例如可以是VDC、MDC、CDC、融合了VDC功能和MDC功能的域控制器、融合了VDC功能和CDC功能的域控制器、融合了MDC功能和CDC功能的域控制器和融合了VDC功能、MDC功能和CDC功能的域控制器中的任意一种。通信设备50也可以是上述整车集成单元(vehicle integrated unit，VIU)。通信设备50还可以是上述域控制器内的组件或者整车集成单元内的组件，组件例如可以是芯片、线卡或集成电路等，在此不作具体限定。In some possible embodiments, the communication device 50 is also used to implement the method on the service module side described in the embodiment of FIG. 6. In this case, the communication device 50 may also be the domain controller in the above embodiment. The controller can be, for example, a VDC, an MDC, a CDC, a domain controller that integrates VDC functions and MDC functions, a domain controller that integrates VDC functions and CDC functions, a domain controller that integrates MDC functions and CDC functions, and a domain controller that integrates VDC functions. Any of the domain controllers with MDC function, CDC function. The communication device 50 may also be the above-mentioned vehicle integrated unit (VIU). The communication device 50 may also be a component in the above-mentioned domain controller or a component in the vehicle integrated unit. The component may be, for example, a chip, a line card, or an integrated circuit, which are not specifically limited here.
总线504可以是外设部件互连标准(peripheral component interconnect，PCI)总线或扩展工业标准结构(extended industry standard architecture，EISA)总线等。总线可以分为地址总线、数据总线、控制总线等。为便于表示，图9中仅用一条线表示，但并不表示仅有一根总线或一种类型的总线。总线504可包括在通信设备50各个部件(例如，存储器503、处理器501、通信接口502)之间传送信息的通路。The bus 504 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of presentation, only one line is used in Figure 9, but it does not mean that there is only one bus or one type of bus. Bus 504 may include a path that carries information between various components of communication device 50 (eg, memory 503, processor 501, communication interface 502).
处理器501可以包括中央处理器(central processing unit，CPU)、微处理器(micro processor，MP)或者数字信号处理器(digital signal processor，DSP)等处理器中的任意一种或多种。The processor 501 may include any one or more of a central processing unit (CPU), a microprocessor (MP), or a digital signal processor (DSP).
存储器503用于提供存储空间，存储空间中可以存储操作***和计算机程序等数据。存储器503可以是随机存取存储器(random access memory，RAM)、可擦除可编程只读存储器(erasable programmable read only memory，EPROM)、只读存储器(read-only memory，ROM)，或便携式只读存储器(compact disc read memory，CD-ROM)等中的一种或者多种的组合。存储器503可以单独存在，也可以集成于处理器501内部。The memory 503 is used to provide storage space, and data such as operating systems and computer programs can be stored in the storage space. The memory 503 may be a random access memory (RAM), an erasable programmable read only memory (EPROM), a read-only memory (ROM), or a portable read-only memory. One or a combination of multiple types of memory (compact disc read memory, CD-ROM), etc. The memory 503 can exist alone or be integrated inside the processor 501 .
通信接口502可用于为处理器501提供信息输入或输出。或者可替换的，该通信接口502可用于接收外部发送的数据和/或向外部发送数据，可以为包括诸如以太网电缆等的有线链路接口，也可以是无线链路(如Wi-Fi、蓝牙、通用无线传输等)接口。或者可替换的，通信接口502还可以包括与接口耦合的发射器(如射频发射器、天线等)，或者接收器等。Communication interface 502 may be used to provide information input or output to processor 501. Or alternatively, the communication interface 502 can be used to receive data sent from the outside and/or send data to the outside. It can be a wired link interface such as an Ethernet cable, or a wireless link (such as Wi-Fi, Bluetooth, general wireless transmission, etc.) interface. Or alternatively, the communication interface 502 may also include a transmitter (such as a radio frequency transmitter, an antenna, etc.), or a receiver coupled to the interface.
该通信设备50中的处理器501用于读取存储器503中存储的计算机程序，用于执行前述的方法，例如图6所描述的方法。The processor 501 in the communication device 50 is used to read the computer program stored in the memory 503 and is used to execute the aforementioned method, such as the method described in FIG. 6 .
在一种可能的设计方式中，通信设备50可为执行图6所示方法的管理模块，该处理器501可用于读取存储器中存储的一个或多个计算机程序，用于执行以下操作：In a possible design approach, the communication device 50 can be a management module that performs the method shown in Figure 6. The processor 501 can be used to read one or more computer programs stored in the memory to perform the following operations:
通过发送单元310向第一业务模块发送第一协商请求，第一协商请求用于咨询第一业务模块是否同意将车辆的状态由第一状态切换为第二状态；Send a first negotiation request to the first service module through the sending unit 310, where the first negotiation request is used to consult the first service module whether it agrees to switch the vehicle's state from the first state to the second state;
通过接收单元312接收第一业务模块发送的第一协商反馈，第一协商反馈与第一协商请求相关联。The first negotiation feedback sent by the first service module is received through the receiving unit 312, and the first negotiation feedback is associated with the first negotiation request.
在一种可能的设计方式中，通信设备50可为执行图6所示方法的业务模块，该处理器501可用于读取存储器中存储的一个或多个计算机程序，用于执行以下操作：In a possible design approach, the communication device 50 can be a business module that performs the method shown in Figure 6. The processor 501 can be used to read one or more computer programs stored in the memory to perform the following operations:
通过接收单元410接收管理模块发送的第一协商请求，第一协商请求用于咨询第一业务模块是否同意将车辆的状态由第一状态切换为第二状态；The first negotiation request sent by the management module is received through the receiving unit 410. The first negotiation request is used to consult the first business module whether it agrees to switch the vehicle's state from the first state to the second state;
通过发送单元412基于第一协商请求向管理模块发送第一协商反馈。The sending unit 412 sends the first negotiation feedback to the management module based on the first negotiation request.
本申请实施例还提供了一种通信***，该通信***包括第一装置和第二装置，其中，第一装置可以是图7所示的通信装置30或者用于实现图6实施例所述的管理模块侧方法的图9所示的通信设备50，第二装置可以是图8所示的通信装置40或者用于实现图6实施例所述的业务模块侧方法的图9所示的通信设备50。该通信***可以用于实现上述图6实施例所示的整车控制方法。The embodiment of the present application also provides a communication system, which includes a first device and a second device, wherein the first device may be the communication device 30 shown in Figure 7 or used to implement the method described in the embodiment of Figure 6 For the communication device 50 shown in Figure 9 of the management module side method, the second device may be the communication device 40 shown in Figure 8 or the communication device shown in Figure 9 used to implement the service module side method described in the embodiment of Figure 6 50. This communication system can be used to implement the vehicle control method shown in the embodiment of FIG. 6 above.
本申请实施例还提供了一种车辆，该车辆包括上述图7所示的通信装置30和图8所示的通信装置40，或者，该车辆包括用于实现图6实施例所述的管理模块侧方法的图9所示的通信设备50和用于实现图6实施例所述的业务模块侧方法的图9所示的通信设备50，或者，该车辆包括用于实现上述图6所示的整车控制方法的通信***。An embodiment of the present application also provides a vehicle, which includes the communication device 30 shown in FIG. 7 and the communication device 40 shown in FIG. 8 , or the vehicle includes a management module for implementing the embodiment of FIG. 6 The communication device 50 shown in FIG. 9 for the side method and the communication device 50 shown in FIG. 9 for implementing the service module side method described in the embodiment of FIG. 6, or the vehicle includes the communication device 50 for realizing the above-mentioned method shown in FIG. 6 Communication system for vehicle control method.
在本文上述的实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详细描述 的部分，可以参见其他实施例的相关描述。In the above-mentioned embodiments of this article, each embodiment is described with its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.
需要说明的是，本领域普通技术人员可以看到上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序可以存储于一计算机可读存储介质中，存储介质包括只读存储器(read-only memory，ROM)、随机存储器(random access memory，RAM)、可编程只读存储器(programmable read-only memory，PROM)、可擦除可编程只读存储器(erasable programmable read only memory，EPROM)、一次可编程只读存储器(one-time programmable read-only memory，OTPROM)、电子抹除式可复写只读存储(electrically-erasable programmable read-only memory，EEPROM)、只读光盘(compact disc read-only memory，CD-ROM)或其他光盘存储器、磁盘存储器、磁带存储器、或者能够用于携带或存储数据的计算机可读的任何其他介质。It should be noted that those of ordinary skill in the art can see that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. , storage media include read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory ( erasable programmable read only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically erasable programmable read-only memory (EEPROM), Compact disc read-only memory (CD-ROM) or other optical disk storage, magnetic disk storage, tape storage, or any other computer-readable medium that can be used to carry or store data.
本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机程序产品存储在一个存储介质中，包括若干指令用以使得一个设备(可以是个人计算机，服务器，或者网络设备、机器人、单片机、芯片、机器人等)执行本申请各个实施例所述方法的全部或部分步骤。The technical solution of the present application is essentially or contributes to the existing technology, or all or part of the technical solution can be embodied in the form of a software product. The computer program product is stored in a storage medium and includes a number of instructions. So that a device (which can be a personal computer, a server, or a network device, a robot, a microcontroller, a chip, a robot, etc.) executes all or part of the steps of the method described in various embodiments of the application.

Claims (28)

  1. 一种整车控制方法，其特征在于，应用于管理模块，所述方法包括：A vehicle control method, characterized in that it is applied to a management module, and the method includes:
    向第一业务模块发送第一协商请求，所述第一协商请求用于咨询所述第一业务模块是否同意将车辆的状态由第一状态切换为第二状态；Send a first negotiation request to the first business module, where the first negotiation request is used to consult the first business module whether it agrees to switch the state of the vehicle from the first state to the second state;
    接收所述第一业务模块发送的第一协商反馈，所述第一协商反馈与所述第一协商请求相关联。Receive a first negotiation feedback sent by the first service module, where the first negotiation feedback is associated with the first negotiation request.
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：The method of claim 1, further comprising:
    向第二业务模块发送第二协商请求，所述第二协商请求用于咨询所述第二业务模块是否同意将所述整车的状态由所述第一状态切换为所述第二状态；Send a second negotiation request to the second business module, the second negotiation request being used to consult the second business module whether it agrees to switch the state of the vehicle from the first state to the second state;
    接收所述第二业务模块发送的第二协商反馈，所述第二协商反馈与所述第二协商请求相关联；Receive a second negotiation feedback sent by the second service module, where the second negotiation feedback is associated with the second negotiation request;
    向所述第一业务模块和所述第二业务模块发送协商结果，所述协商结果是基于所述第一协商反馈和所述第二协商反馈获得。Send a negotiation result to the first service module and the second service module, where the negotiation result is obtained based on the first negotiation feedback and the second negotiation feedback.
  3. 根据权利要求1或2所述的方法，其特征在于，在所述向第一业务模块发送第一协商请求之前，所述方法还包括：The method according to claim 1 or 2, characterized in that, before sending the first negotiation request to the first service module, the method further includes:
    接收所述第一业务模块发送的状态转换请求，所述状态转换请求用于请求将所述车辆的状态由所述第一状态切换为所述第二状态，所述第一协商请求与所述状态转换请求相关联。Receive a state transition request sent by the first service module, the state transition request is used to request to switch the state of the vehicle from the first state to the second state, the first negotiation request and the State transition requests are associated.
  4. 根据权利要求1或2所述的方法，其特征在于，在所述向第一业务模块发送第一协商请求之前，所述方法还包括：The method according to claim 1 or 2, characterized in that, before sending the first negotiation request to the first service module, the method further includes:
    接收第二业务模块发送的状态转换请求，所述状态转换请求用于请求将所述车辆的状态由所述第一状态切换为所述第二状态，所述第一协商请求与所述状态转换请求相关联。Receive a state transition request sent by the second service module, the state transition request is used to request to switch the state of the vehicle from the first state to the second state, the first negotiation request and the state transition Request association.
  5. 根据权利要求2-4任一项所述的方法，其特征在于，The method according to any one of claims 2-4, characterized in that,
    在所述第一协商反馈和所述第二协商反馈均指示同意将所述车辆的状态由所述第一状态切换为所述第二状态的情况下，所述协商结果指示执行所述车辆的状态的切换；或者，In the case where both the first negotiation feedback and the second negotiation feedback indicate agreement to switch the state of the vehicle from the first state to the second state, the negotiation result indicates execution of the vehicle's status switching; or,
    在所述第一协商反馈或所述第二协商反馈指示不同意将所述车辆的状态由所述第一状态切换为所述第二状态的情况下，所述协商结果指示不执行所述车辆的状态的切换。In the case where the first negotiation feedback or the second negotiation feedback indicates that there is no agreement to switch the state of the vehicle from the first state to the second state, the negotiation result indicates not to execute the vehicle status switching.
  6. 根据权利要求1-5任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1-5, characterized in that the method further includes:
    向所述第一业务模块发送优先级指示信息，所述优先级指示信息用于指示所述第二状态的优先级；Send priority indication information to the first service module, where the priority indication information is used to indicate the priority of the second state;
    所述第一协商反馈与所述第一协商请求相关联具体为：所述第一协商反馈与所述第一协商请求和所述优先级指示信息相关联。The first negotiation feedback is associated with the first negotiation request. Specifically, the first negotiation feedback is associated with the first negotiation request and the priority indication information.
  7. 根据权利要求1-6任一项所述的方法，其特征在于，所述管理模块部署在所述车辆的第一域控制器。The method according to any one of claims 1 to 6, characterized in that the management module is deployed on the first domain controller of the vehicle.
  8. 根据权利要求7所述的方法，其特征在于，所述第一业务模块部署在所述车辆的第二域控制器。The method of claim 7, wherein the first business module is deployed on a second domain controller of the vehicle.
  9. 根据权利要求7所述的方法，其特征在于，所述第一业务模块部署在所述车辆的整车集成单元VIU。The method according to claim 7, characterized in that the first service module is deployed in a vehicle integration unit VIU of the vehicle.
  10. 根据权利要求7所述的方法，其特征在于，所述第一业务模块部署在所述车辆的所述第一域控制器。The method of claim 7, wherein the first service module is deployed on the first domain controller of the vehicle.
  11. 一种整车控制方法，其特征在于，应用于第一业务模块，所述方法包括：A vehicle control method, characterized in that it is applied to the first business module, and the method includes:
    接收管理模块发送的第一协商请求，所述第一协商请求用于咨询所述第一业务模块是否同意将车辆的状态由第一状态切换为第二状态；Receive a first negotiation request sent by the management module, the first negotiation request being used to consult the first business module whether it agrees to switch the state of the vehicle from the first state to the second state;
    基于所述第一协商请求向所述管理模块发送第一协商反馈。Send first negotiation feedback to the management module based on the first negotiation request.
  12. 根据权利要求11所述的方法，其特征在于，在所述接收管理模块发送的第一协商请求之前，所述方法还包括：The method according to claim 11, characterized in that before receiving the first negotiation request sent by the management module, the method further includes:
    向所述管理模块发送状态转换请求，所述状态转换请求用于请求将所述车辆的状态由所述第一状态切换为所述第二状态。A state transition request is sent to the management module, where the state transition request is used to request to switch the state of the vehicle from the first state to the second state.
  13. 根据权利要求11或12所述的方法，其特征在于，所述方法还包括：The method according to claim 11 or 12, characterized in that, the method further includes:
    根据所述第一协商请求判断所述第一业务模块对应的车辆零部件的状态是否满足所述车辆的状态由所述第一状态切换为所述第二状态所需的条件，获得所述第一协商反馈。According to the first negotiation request, it is judged whether the status of the vehicle parts corresponding to the first business module meets the conditions required for the status of the vehicle to switch from the first status to the second status, and the third status is obtained. A consultation feedback.
  14. 根据权利要求11或12所述的方法，其特征在于，所述方法还包括：The method according to claim 11 or 12, characterized in that, the method further includes:
    接收所述管理模块发送的优先级指示信息，所述优先级指示信息指示所述第二状态的优先级；Receive priority indication information sent by the management module, where the priority indication information indicates the priority of the second state;
    所述基于所述第一协商请求向所述管理模块发送第一协商反馈，包括：The sending of the first negotiation feedback to the management module based on the first negotiation request includes:
    基于所述第一协商请求和所述优先级指示信息向所述管理模块发送所述第一协商反馈。Send the first negotiation feedback to the management module based on the first negotiation request and the priority indication information.
  15. 根据权利要求14所述的方法，其特征在于，所述方法还包括：The method of claim 14, further comprising:
    根据所述第一协商请求和所述优先级指示信息，获得所述第一协商反馈。The first negotiation feedback is obtained according to the first negotiation request and the priority indication information.
  16. 根据权利要求14或15所述的方法，其特征在于，基于所述第一协商请求确定所述第一业务模块对应的车辆零部件的状态不满足所述车辆的状态由所述第一状态切换为所述第二状态所需的条件，且所述第二状态的优先级大于预设阈值或者所述第二状态的优先级高于所述第一状态的优先级的情况下，所述第一协商反馈指示同意将所述车辆的状态由所述第一状态切换为所述第二状态。The method according to claim 14 or 15, characterized in that, based on the first negotiation request, it is determined that the status of the vehicle component corresponding to the first business module does not satisfy the status of the vehicle and is switched to the first status. is a condition required for the second state, and the priority of the second state is greater than the preset threshold or the priority of the second state is higher than the priority of the first state, the A negotiation feedback indicates agreement to switch the state of the vehicle from the first state to the second state.
  17. 根据权利要求11-16任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 11-16, characterized in that the method further includes:
    接收所述管理模块发送的协商结果，所述协商结果是基于所述第一协商反馈获得；Receive the negotiation result sent by the management module, where the negotiation result is obtained based on the first negotiation feedback;
    在所述协商结果指示执行所述车辆的状态的切换的情况下，将所述车辆的状态由所述第一状态切换为所述第二状态。If the negotiation result indicates that the state of the vehicle is switched, the state of the vehicle is switched from the first state to the second state.
  18. 根据权利要求11-17任一项所述的方法，其特征在于，所述管理模块部署在所述车辆的第一域控制器。The method according to any one of claims 11 to 17, characterized in that the management module is deployed on the first domain controller of the vehicle.
  19. 根据权利要求18所述的方法，其特征在于，所述第一业务模块部署在所述车辆的第二域控制器。The method of claim 18, wherein the first business module is deployed on a second domain controller of the vehicle.
  20. 根据权利要求18所述的方法，其特征在于，所述第一业务模块部署在所述车辆的整车集成单元VIU。The method according to claim 18, characterized in that the first business module is deployed in a vehicle integration unit VIU of the vehicle.
  21. 根据权利要求18所述的方法，其特征在于，所述第一业务模块部署在所述车辆的所述第一域控制器。The method according to claim 18, characterized in that the first service module is deployed on the first domain controller of the vehicle.
  22. 一种用于整车控制的装置，其特征在于，所述装置包括发送单元和接收单元，其中，A device for vehicle control, characterized in that the device includes a sending unit and a receiving unit, wherein,
    所述发送单元用于向第一业务模块发送第一协商请求，所述第一协商请求用于咨询所述 第一业务模块是否同意将车辆的状态由第一状态切换为第二状态；The sending unit is used to send a first negotiation request to the first service module, and the first negotiation request is used to consult the first service module whether it agrees to switch the state of the vehicle from the first state to the second state;
    所述接收单元用于接收所述第一业务模块发送的第一协商反馈，所述第一协商反馈与所述第一协商请求相关联。The receiving unit is configured to receive a first negotiation feedback sent by the first service module, where the first negotiation feedback is associated with the first negotiation request.
  23. 一种用于整车控制的装置，其特征在于，所述装置包括接收单元和发送单元，其中，A device for vehicle control, characterized in that the device includes a receiving unit and a sending unit, wherein,
    所述接收单元用于接收管理模块发送的第一协商请求，所述第一协商请求用于咨询所述第一业务模块是否同意将车辆的状态由第一状态切换为第二状态；The receiving unit is used to receive a first negotiation request sent by the management module, and the first negotiation request is used to consult the first business module whether it agrees to switch the state of the vehicle from the first state to the second state;
    所述发送单元用于基于所述第一协商请求向所述管理模块发送第一协商反馈。The sending unit is configured to send a first negotiation feedback to the management module based on the first negotiation request.
  24. 一种芯片，其特征在于，所述芯片包括至少一个处理器和通信接口；A chip, characterized in that the chip includes at least one processor and a communication interface;
    所述通信接口用于接收和/或发送数据，和/或，所述通信接口用于为所述处理器提供输入和/或输出；The communication interface is used to receive and/or send data, and/or the communication interface is used to provide input and/or output to the processor;
    所述至少一个处理器用于实现权利要求1-10任一项所述的方法，或者，用于实现权利要求11-21任一项所述的方法。The at least one processor is used to implement the method described in any one of claims 1-10, or used to implement the method described in any one of claims 11-21.
  25. 一种***，其特征在于，所述***至少包括第一装置和第二装置，其中，A system, characterized in that the system at least includes a first device and a second device, wherein,
    所述第一装置用于实现权利要求1-10任一项所述的方法，The first device is used to implement the method described in any one of claims 1-10,
    所述第二装置用于实现权利要求11-21任一项所述的方法。The second device is used to implement the method described in any one of claims 11-21.
  26. 一种车辆，其特征在于，所述车辆包括如权利要求22-24任一项所述的装置，或者包括如权利要求25所述的***。A vehicle, characterized in that the vehicle includes the device according to any one of claims 22-24, or the system according to claim 25.
  27. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有程序指令，当所述指令在至少一个处理器上运行时，实现如权利要求1-10任一项所述的方法，或者，实现如权利要求11-21任一项所述的方法。A computer-readable storage medium, characterized in that the computer-readable storage medium stores program instructions. When the instructions are run on at least one processor, the method of any one of claims 1-10 is implemented. Method, or implement the method according to any one of claims 11-21.
  28. 一种计算机程序产品，其特征在于，当所述计算机程序产品在处理器上运行时，使得用于整车控制的装置执行如权利要求1-10或者11-21任一项所述的方法。A computer program product, characterized in that when the computer program product is run on a processor, it causes a device for vehicle control to execute the method described in any one of claims 1-10 or 11-21.
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