CN-121979178-A - Vehicle control method and system and vehicle

CN121979178ACN 121979178 ACN121979178 ACN 121979178ACN-121979178-A

Abstract

The application belongs to the technical field of vehicle control, and relates to a vehicle control method and system and a vehicle, wherein the method comprises the steps of acquiring key state signals and signal states stored by a controller in a vehicle control system at the last synchronization time as state snapshot information after the vehicle is electrified; judging whether the state snapshot information of each controller is consistent, if so, realizing system state recovery by the vehicle control system based on the stored state snapshot information, if not, analyzing inconsistent key state signals as target signals, detecting whether the signal states of the target signals are abnormal based on a signal health monitoring mechanism, and if so, controlling the target signals to exit or isolate the target signals by each controller to maintain the operation of the vehicle control system. According to the application, the state snapshot information is synchronously acquired, and when the consistency check fails, the state of the target signal is monitored, so that the target signal is timely withdrawn or isolated, and the abnormal self-healing and safe operation of the distributed system are realized.

Inventors

XU RONGCHANG
LU XIAOLONG

Assignees

长城汽车股份有限公司

Dates

Publication Date: 20260505
Application Date: 20260203

Claims (10)

1. A control method of a vehicle applied to a distributed vehicle control system, the method comprising: After the vehicle is electrified, acquiring key state signals and signal states of the last synchronization time stored by a controller in the vehicle control system as state snapshot information; judging whether the state snapshot information of each controller is consistent; If the state snapshot information is consistent, the vehicle control system realizes system state recovery based on the stored state snapshot information; If the key state signals are inconsistent, analyzing the inconsistent key state signals as target signals, and detecting whether the signal states of the target signals are abnormal or not based on a signal health monitoring mechanism; and if the state of the target signal is abnormal, each controller controls the target signal to exit or isolate the target signal, and the vehicle control system is maintained to operate.
2. The method according to claim 1, wherein a body domain controller in the vehicle control system is configured as a master controller, and the other controllers are configured as participating controllers, and wherein the method for the controllers in the vehicle control system to perform the status snapshot at the last synchronization time includes: Detecting the state of the vehicle through the vehicle body domain controller; When the vehicle state meets a first synchronization triggering condition, based on state snapshot information to be synchronized, the state snapshot information is sent to the participation controller and the vehicle body domain controller in the vehicle control system; The vehicle body domain controller and the participation controllers write the state snapshot information to be synchronized into memories corresponding to the vehicle body domain controller and each participation controller in real time, and the generated state identification is stored into the memories.
3. The control method of a vehicle according to claim 1, characterized in that the method of establishing the signal health monitoring mechanism includes: monitoring the signal state of the target signal in real time; Judging whether the triggering condition of the target signal is valid or not; Judging whether the duration of the target signal exceeds a first preset time; Judging whether the signal state of the target signal is consistent with the signal states of other related signals; If the target signal triggering is judged to be effective, the duration time does not exceed a first preset time and the signal states of the target signal and other associated signals are consistent, the target signal state is normal, and if the target signal triggering is judged to be ineffective, or the duration time exceeds the first preset time or the signal states of the target signal and other associated signals are inconsistent, the target signal state is abnormal.
4. The control method of a vehicle according to claim 1, characterized in that the method of maintaining the operation of the vehicle control system when the signal state of the target signal is abnormal includes: Monitoring response tasks aiming at the target signals in the corresponding controllers; when the signal state of the target signal is abnormal, each controller executes an adaptive exit strategy to invalidate the target signal, and terminates the response task of the target signal so as to exit the continuous abnormal state of the vehicle control system; And if the abnormal state of the vehicle control system is continuously carried out, each controller executes a signal isolation strategy to isolate the target signal, terminates the response task of the target signal and maintains the operation of the vehicle control system.
5. The control method of a vehicle according to claim 4, characterized in that the method of executing the adaptive exit strategy includes: Acquiring a target signal type, a system context and a current continuous state of a target signal; Generating an exit condition according to the target signal type and the system context; judging whether the current continuous state of the target signal meets an exit condition or not; if the signal is not in conformity with the target signal, the vehicle control system is stopped from continuously abnormal state, if the signal is not in conformity with the target signal, the state of the target signal is continuously monitored, and the stopping operation is not executed.
6. The control method of a vehicle according to claim 5, characterized in that the method of executing the signal isolation strategy includes: Based on the system context and the current sustained state of the target signal, each controller selects and performs at least one of logic isolation, source rejection and communication filtering on the target signal to isolate the target signal and eliminate the influence of the target signal on the vehicle control system; After the vehicle control system remains operational, the controller generates and stores a fault code of an isolated event.
7. The control method of the vehicle according to claim 1, characterized in that the control method of the vehicle further includes: Monitoring the state of the vehicle control system in real time; When the vehicle control system is restarted or a second synchronous triggering condition is met, the controller is controlled again to acquire state snapshot information of the last synchronous moment; performing consistency check and repair on the state snapshot information to form consistent state snapshot information; And realizing the system state recovery based on the consistent state snapshot information.
8. The control method of a vehicle according to claim 7, characterized in that the method of consistency check and repair of the state snapshot information includes: judging whether the state snapshot information of the last synchronization time acquired by each controller is consistent or not; And if the state snapshot information is inconsistent, the vehicle control system covers or corrects the state of the error target signal according to a preset rule to form the consistent state snapshot information.
9. A control system of a vehicle, characterized by comprising: the data acquisition module is used for acquiring state snapshot information at the last synchronization moment and the signal state of the target signal; the first judging module is used for judging whether the state snapshot information of each controller is consistent or not; the second judging module is used for judging whether the signal state of the target signal is abnormal or not when the state snapshot information is inconsistent; and the control module is used for establishing a signal health monitoring mechanism when the state snapshot information is inconsistent, and controlling the target signal to exit or isolate the target signal when the state of the signal is abnormal so as to maintain the operation of the vehicle control system.
10. A vehicle comprising a memory, a processor and a computer program stored in the memory and executable on the processor, when executing the computer program, causing the processor to carry out the method of controlling a vehicle according to any one of claims 1 to 8, or the vehicle comprising the control system of a vehicle according to claim 9.

Description

Vehicle control method and system and vehicle Technical Field The present application relates to the field of vehicle control technologies, and in particular, to a vehicle control method and system, and a vehicle. Background Along with the development of the electronic and electric architecture of the automobile to the distributed and networked directions, when each controller in the automobile independently maintains state information, the controllers also need to cooperatively complete complex functions, and the state synchronization and fault tolerance capability of the controllers directly relate to the reliability and safety of the whole automobile function. At present, under the actual working conditions of power supply transient, non-standard power-on and power-off and the like, related systems often cause abnormal functions due to inconsistent states among controllers, and user experience and driving safety are seriously affected. In the prior art, vehicle electronic systems typically rely on each controller to independently maintain state information and maintain state via a Memory (e.g., EEPROM, ELECTRICALLY ERASABLE PROGRAMMABLE READ-Only Memory, electrically erasable programmable read-Only Memory). When the system is dormant or restarted, each controller performs initialization and logic judgment according to the local storage state. However, in the related art, because of the difference between the writing time and the reading time sequence of the states of each controller, under the scenes of rapid power circulation and the like, the cognitive splitting of each controller to the same physical state is very easy to be caused, and further, the triggering of the wrong function protection or the abnormal operation is caused, and finally, the overall function disorder and the reliability of the system are reduced, and the potential safety hazard is caused for the use of users. Disclosure of Invention The present application solves at least one of the technical problems in the related art to a certain extent. The application aims to provide a control method and system for a vehicle, and the vehicle, wherein state snapshot information is synchronously acquired and written in instantly so as to prevent state cognitive splitting, and a self-adaptive exit strategy or a signal isolation strategy is timely acquired through monitoring signal health so as to maintain system operation in an abnormal state, thereby providing double guarantee for the vehicle, and recovering the system state to be normal when the system is used in the next stage, fundamentally solving the problem that the state synchronization and fault tolerance recovery mechanism of a distributed system are lost under the transient working condition of a power supply, enabling the system to actively maintain or recover to a safe state, and remarkably improving the safety and robustness of the system. To achieve the above object, a first aspect of the present application provides a control method of a vehicle, comprising: After the vehicle is electrified, acquiring key state signals and signal states of the last synchronization time stored by a controller in the vehicle control system as state snapshot information; judging whether the state snapshot information of each controller is consistent; If the state snapshot information is consistent, the vehicle control system realizes system state recovery based on the stored state snapshot information; If the state of the target signal is abnormal, each controller controls the target signal to exit or isolate the target signal, and the vehicle control system is maintained to operate. In the embodiment of the application, the architecture upgrade from the passive problem-repair to the active prevention-fault tolerance is realized by introducing a distributed snapshot mechanism and signal fault tolerance processing, and the state cognitive splitting caused by power supply transient or asynchronous storage is prevented from the source by acquiring the state snapshot information of the last synchronization time stored in the controller after the vehicle is electrified. When the state snapshot information is inconsistent, the inconsistent key state signals are analyzed to be target signals, whether the state of the target signals is abnormal is judged through a signal health monitoring mechanism, and under the condition that the state of the target signals is abnormal, each controller is controlled to withdraw the target signals or isolate the target signals, so that the system maintains a basic function or a safe state under the abnormal working condition, and functional locking or logic abnormal circulation is effectively avoided. With reference to the first aspect, in certain implementation manners of the first aspect, the vehicle domain controller in the vehicle control system is configured as a master controller, and other controllers are configured as participating controllers, and the method for p