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CN-122009056-A - Response control method and system of vehicle body controller, vehicle body controller and vehicle

CN122009056ACN 122009056 ACN122009056 ACN 122009056ACN-122009056-A

Abstract

The application provides a response control method and system of a vehicle body controller, the vehicle body controller and a vehicle. The response control method comprises the steps that under the condition that a response request instruction for representing the sub-controller responding to a request is received, the sub-controller corresponding to the response request instruction is controlled to respond to the current control instruction, under the condition that the response request instruction is received, the sub-controller corresponding to the response request instruction is not received, the sub-controller corresponding to the response request instruction is controlled to respond to the control instruction received before the current moment within a target duration, and the sub-controller corresponding to the response request instruction is controlled to execute switching after the target duration. To promote stability of vehicle control.

Inventors

  • LIU YUJING
  • ZHANG MIN
  • ZHANG ZHENXING

Assignees

  • 浙江远程商用车研发有限公司
  • 浙江吉利控股集团有限公司
  • 浙江远程新能源商用车集团有限公司

Dates

Publication Date
20260512
Application Date
20260316

Claims (10)

  1. 1. A response control method of a vehicle body controller, characterized in that the vehicle body controller communicates with an automatic driving controller, and the automatic driving controller includes a plurality of sub-controllers that can transmit control instructions to the vehicle body controller; The response control method comprises the following steps: under the condition that a response request instruction for representing a sub-controller for requesting response is received, if a control instruction from the sub-controller corresponding to the response request instruction is currently received, controlling a vehicle body controller to respond to the current control instruction; And under the condition that the response request instruction is received, if the control instruction from the sub-controller corresponding to the response request instruction is not received, controlling the vehicle body controller to respond to the control instruction received before the current moment in the target duration, and controlling the vehicle body controller to execute switching after the target duration.
  2. 2. The response control method according to claim 1, wherein, And if the control instruction from the sub-controller corresponding to the response request instruction is not received, controlling the vehicle body controller to respond to the control instruction received before the current moment in the target duration, and controlling the vehicle body controller to execute switching after the target duration, wherein the method comprises the following steps: and if the control instruction from the sub-controller corresponding to the response request instruction is not received, controlling the vehicle body controller to respond to the control instruction received before the current moment in the target duration, and controlling the vehicle body controller to respond to the current control instruction or controlling the vehicle body controller to exit from automatic driving control after the target duration.
  3. 3. The response control method according to claim 2, wherein, The plurality of sub-controllers include a master controller and a slave controller; If the control instruction from the sub-controller corresponding to the response request instruction is not received, controlling the vehicle body controller to respond to the control instruction received before the current moment in the target duration, and after the target duration, controlling the vehicle body controller to respond to the current control instruction, or controlling the vehicle body controller to exit from the automatic driving control, including: If the sub controller corresponding to the response request instruction is the main controller, if the currently received control instruction is sent from the slave controller, controlling the vehicle body controller to respond to the control instruction received before the current moment in the target duration, and controlling the vehicle body controller to respond to the current control instruction after the target duration; And if the sub controller corresponding to the response request instruction is a slave controller, if the control instruction sent from the slave controller is not received, controlling the vehicle body controller to respond to the control instruction received before the current moment in the target duration, and controlling the vehicle body controller to exit from automatic driving control after the target duration.
  4. 4. The response control method according to claim 1, characterized by further comprising: and if the receiving of the response request instruction is interrupted, controlling the vehicle body controller according to the historical response request instruction before the current moment and the current receiving condition of the control instruction.
  5. 5. The response control method according to claim 4, wherein, And controlling the vehicle body controller according to the historical response request instruction before the current moment and the current receiving condition of the control instruction, wherein the method comprises the following steps: And if the control instruction is received currently, controlling the vehicle body controller according to the matching relationship between the sub-controller corresponding to the historical response request instruction before the current moment and the sub-controller sending the currently received control instruction.
  6. 6. The response control method according to claim 5, wherein, The sub-controller corresponding to the history response request instruction before the current moment is used as a first controller; The sub-controller sending the currently received control instruction is used as a second controller; If the control instruction is received currently, controlling the vehicle body controller according to a matching relationship between the sub-controller corresponding to the historical response request instruction before the current moment and the sub-controller sending the currently received control instruction, wherein the method comprises the following steps: if the first controller is consistent with the second controller, controlling the vehicle body controller to respond to the current control instruction; And if the first controller is inconsistent with the second controller, controlling the vehicle body controller to respond to the control instruction received before the current moment in the target time length, and controlling the vehicle body controller to respond to the current control instruction after the target time length.
  7. 7. The response control method according to claim 4, wherein, And controlling the vehicle body controller according to the historical response request instruction before the current moment and the current receiving condition of the control instruction, wherein the method comprises the following steps: And if the control instruction is not received currently, controlling the vehicle body controller to respond to the control instruction received before the current moment in the target time length, and controlling the vehicle body controller to exit the automatic driving control after the target time length.
  8. 8. A response control system for a vehicle body controller, wherein the response control system is in communication with the vehicle body controller, the response control system comprising one or more processors to implement the response control method for a vehicle body controller of any one of claims 1-7.
  9. 9. A vehicle body controller comprising one or more processors configured to implement the response control method of the vehicle body controller as claimed in any one of claims 1 to 7.
  10. 10. A vehicle, characterized by comprising: a response control system of a vehicle body controller according to claim 8, or a vehicle body controller according to claim 9.

Description

Response control method and system of vehicle body controller, vehicle body controller and vehicle Technical Field The present invention relates to the field of vehicle technologies, and in particular, to a response control method and system for a vehicle body controller, and a vehicle. Background In a vehicle with a higher automatic driving level, an automatic driving controller usually adopts a design framework of master-slave redundancy, and is provided with a master controller and two slave controllers, when the master controller has software and hardware faults, the slave controllers take over to complete the control operation of the vehicle. The automobile body controller is used as a core control unit of the automobile and is responsible for realizing the action control of automobile body parts such as lamplight, a windscreen wiper, a window, a door lock and the like, and the automobile body controller is required to receive control instructions sent by a main controller and a slave controller of the automatic driving controller and execute corresponding operations. However, in the prior art, the vehicle body controller simply executes corresponding commands according to the switching mechanism of the master control command and the slave control command, so that stable and continuous response of the vehicle body control function cannot be realized, the problems of clamping and uncontrolled vehicle body control and the like are easy to occur, and the stability and safety of the vehicle body control in the automatic driving process are affected. Disclosure of Invention The application provides a response control method and system of a vehicle body controller, the vehicle body controller and a vehicle, so as to improve the stability of vehicle control. The application provides a response control method of a vehicle body controller, wherein the vehicle body controller is communicated with an automatic driving controller, and the automatic driving controller comprises a plurality of sub-controllers which can send control instructions to the vehicle body controller; the response control method comprises the steps of controlling the vehicle body controller to respond to the current control instruction if the control instruction from the sub-controller corresponding to the response request instruction is received under the condition that the response request instruction for representing the response request is received, and controlling the vehicle body controller to respond to the control instruction received before the current moment in the target duration and controlling the vehicle body controller to execute switching after the target duration if the control instruction from the sub-controller corresponding to the response request instruction is not received under the condition that the response request instruction is received. Optionally, if the control instruction from the sub-controller corresponding to the response request instruction is not received, controlling the vehicle body controller to respond to the control instruction received before the current moment within the target duration, and controlling the vehicle body controller to execute the switching after the target duration, including if the control instruction from the sub-controller corresponding to the response request instruction is not received, controlling the vehicle body controller to respond to the control instruction received before the current moment within the target duration, and controlling the vehicle body controller to respond to the current control instruction after the target duration, or controlling the vehicle body controller to exit the automatic driving control. Optionally, the plurality of sub-controllers includes a master controller and a slave controller; if the control instruction from the sub-controller corresponding to the response request instruction is not received, controlling the vehicle body controller to respond to the control instruction received before the current moment in the target duration, and controlling the vehicle body controller to respond to the current control instruction after the target duration, or controlling the vehicle body controller to exit the automatic driving control, wherein in the case that the sub-controller corresponding to the response request instruction is the main controller, if the currently received control instruction is sent from the sub-controller, controlling the vehicle body controller to respond to the control instruction received before the current moment in the target duration, and controlling the vehicle body controller to respond to the current control instruction after the target duration; and under the condition that the sub-controller corresponding to the response request instruction is the slave controller, if the control instruction sent from the slave controller is not received, controlling the vehicle body controller to respond to the control instruction rece