WO2021143630A1 - 基于双独立控制单元的车辆智控系统和车辆 - Google Patents

基于双独立控制单元的车辆智控系统和车辆 Download PDF

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Publication number
WO2021143630A1
WO2021143630A1 PCT/CN2021/071001 CN2021071001W WO2021143630A1 WO 2021143630 A1 WO2021143630 A1 WO 2021143630A1 CN 2021071001 W CN2021071001 W CN 2021071001W WO 2021143630 A1 WO2021143630 A1 WO 2021143630A1
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WIPO (PCT)
Prior art keywords
control unit
vehicle
control
module
data
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2021/071001
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English (en)
French (fr)
Inventor
柳科
胡辉
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Sharkharbor Technology Shanghai Co Ltd
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Sharkharbor Technology Shanghai Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to AU2021208729A priority Critical patent/AU2021208729A1/en
Priority to PH1/2022/551796A priority patent/PH12022551796A1/en
Priority to EP21741576.9A priority patent/EP4092495A4/en
Priority to JP2022569286A priority patent/JP7400127B2/ja
Priority to KR1020227028283A priority patent/KR20220128420A/ko
Priority to MX2022008943A priority patent/MX2022008943A/es
Application filed by Sharkharbor Technology Shanghai Co Ltd filed Critical Sharkharbor Technology Shanghai Co Ltd
Priority to BR112022014215A priority patent/BR112022014215A2/pt
Priority to CA3165375A priority patent/CA3165375A1/en
Priority to US17/793,754 priority patent/US12263854B2/en
Publication of WO2021143630A1 publication Critical patent/WO2021143630A1/zh
Anticipated expiration legal-status Critical
Priority to CONC2022/0010936A priority patent/CO2022010936A2/es
Ceased legal-status Critical Current

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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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/10—Interpretation of driver requests or demands
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B9/00—Safety arrangements
    • G05B9/02—Safety arrangements electric
    • G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/04—Program control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Program control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4183—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by data acquisition, e.g. workpiece identification
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41845—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by system universality, reconfigurability, modularity
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • 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
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/36—Cycles; Motorcycles; Scooters
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication
    • G05B19/41855—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication by local area network [LAN], network structure
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the invention belongs to the technical field of vehicles, and is particularly suitable for two-wheeled vehicles.
  • the two-wheeled vehicle referred to in the present invention refers to electric bicycles, motorcycles, electric motorcycles, electric scooters, etc. used as vehicles.
  • the technical solution of the present invention is also applicable to other vehicles such as tricycles and four-wheeled vehicles that require intelligent control.
  • Electric two-wheeled vehicles use the energy provided by batteries to drive.
  • an electronic control unit is usually required to uniformly control these components. For example, it controls the voltage and current output of the battery, regulates the rotation speed or input power of the motor, and realizes functions such as security and anti-theft and environmental status monitoring.
  • the existing electronic control unit has fewer functions for human-computer interaction, and does not support the user's remote monitoring or remote access to the vehicle.
  • the invention aims to solve the problems of single function, weak scalability, poor stability, low fault tolerance rate and low safety of the existing vehicle intelligent control system.
  • one aspect of the present invention proposes a vehicle intelligent control system based on dual independent control units, which includes a locomotive terminal and a cloud server terminal.
  • the locomotive terminal can interact with the cloud server terminal. It includes a first control unit and a second control unit, which can operate independently and can exchange real-time data; the first control unit monitors the running status of the vehicle in real time, and transmits at least part of the running status data to the first Two control units; at the same time, the first control unit controls the operation of the vehicle according to internal predetermined instructions and control instructions received from the second control unit; the second control unit receives data transmitted by the first control unit, At least part of the received data is sent to the cloud server; at the same time, the second control unit receives the control instruction from the cloud server, and transfers the control instruction for controlling the operation of the vehicle to the first control unit.
  • the vehicle intelligent control system further includes a user terminal, the user terminal can also interact with the cloud server; the cloud server is also used to send control instructions from the user terminal To the second control unit.
  • the second control unit sends the operating status data obtained by the second control unit to the cloud server; the user terminal that has established a connection with the cloud server obtains the operating status data to display the operating status data on the user terminal. Real-time display of the current operating status of the vehicle.
  • the first control unit includes a first electronic control unit
  • the second control unit includes a second electronic control unit
  • the first electronic control unit and the second electronic control unit can perform real-time Data exchange; the first electronic control unit does not rely on the data transmitted by the second electronic control unit to control the driving of the vehicle.
  • the second control unit includes a display module provided on the vehicle, and the display module is used to display the operating state data.
  • the second control unit further controls the display of the display module according to a user's operation instruction and/or a control instruction from the cloud server.
  • the second control unit includes a positioning module for setting a vehicle, the positioning module is used to obtain geographic location information of the vehicle; the display module is also used to display the geographic location information.
  • the second control unit sends the geographic location data to the cloud server; the user terminal that establishes a connection with the cloud server acquires the geographic location data to display the vehicle on the user terminal in real time Geographic location.
  • the first control unit further includes a sensor for acquiring the vehicle operating state data, and the first electronic control unit controls the vehicle operating state data according to the operating state data obtained by the sensor. The operation of the vehicle.
  • the first electronic control unit is further configured to send the raw data obtained by the sensor or the aggregated data obtained by processing the raw data to the second electronic control unit;
  • the second electronic control unit is also used to send the data obtained by itself and/or the data from the first electronic control unit to the cloud server.
  • the vehicle intelligent control system further includes a smart helmet, and the second electronic control unit can exchange data with the smart helmet, so as to exchange data from the first control unit and the second control unit. And/or the data acquired by the cloud server is sent to the smart helmet;
  • the smart helmet is used to display and/or play the obtained data.
  • the smart helmet includes a screen projection module, which is used to visually project the information from the second electronic control unit.
  • the second electronic control unit includes a restart control module and an application running module; the application running module is used to store, install and run various applications; the restart control module is used to control the Automatic restart of application running module.
  • the restart control module includes a first data storage module; the data reported by the first electronic control unit to the second electronic control unit or the cloud server sends the data to the second electronic control unit
  • the control instruction of is first cached in the first data storage module, and then sent to the application running module by the restart control module.
  • the first electronic control unit is connected to at least one of the following modules: a sensor control module, a human-computer interaction module, and an identity recognition module.
  • the sensor control module is connected with a battery management module, and the battery management module is used to control the battery system of the vehicle.
  • the vehicle control unit system includes a first control unit and a second control unit.
  • the two can operate independently and can exchange real-time data.
  • the first control unit monitors the running status of the vehicle in real time, and transmits at least part of the running status data to the second control unit in real time; at the same time, the first control unit according to internal predetermined instructions and received from the second control
  • the control instruction of the unit controls the operation of the vehicle; the second control unit receives the data transmitted by the first control unit, and sends at least part of the received data to a cloud server; at the same time, the second control unit receives
  • the control instruction from the cloud server transfers the control instruction for controlling the operation of the vehicle to the first control unit.
  • the first control unit includes a first electronic control unit
  • the second control unit includes a second electronic control unit
  • the first electronic control unit and the second electronic control unit can perform real-time Data exchange; the first electronic control unit does not rely on the data transmitted by the second electronic control unit to control the driving of the vehicle.
  • the second control unit includes a display module provided on the vehicle, and the display module is used to display the operating state data.
  • the second control unit further controls the display of the display module according to a user's operation instruction and/or a control instruction from the cloud server.
  • the second control unit includes a positioning module for setting a vehicle, the positioning module is used to obtain geographic location information of the vehicle; the display module is also used to display the geographic location information.
  • the second control unit sends the geographic location data to the cloud server.
  • the first control unit further includes a sensor for acquiring the vehicle operating state data, and the first electronic control unit controls the vehicle operating state data according to the operating state data obtained by the sensor. The operation of the vehicle.
  • the first electronic control unit is further configured to send the raw data obtained by the sensor or the aggregated data obtained by processing the raw data to the second electronic control unit;
  • the second electronic control unit is also used to send the data obtained by itself and/or the data from the first electronic control unit to the cloud server.
  • the second electronic control unit includes a restart control module and an application running module; the application running module is used to store, install and run various applications;
  • the restart control module is used to control the automatic restart of the application running module.
  • the restart control module includes a first data storage module; the data reported by the first electronic control unit to the second electronic control unit or the cloud server sends the data to the second electronic control unit
  • the control instruction of is first cached in the first data storage module, and then sent to the application running module by the restart control module.
  • the present invention isolates intelligent applications that require range control and network interconnection from the underlying vehicle control, thereby improving the safety of the vehicle.
  • the present invention designs the automatic restart of the top-level control unit, which makes the overall system more adaptable and stable, and improves user experience.
  • the top-level control unit of the present invention has an independent operating platform, can carry out more intelligent expansion, and solves the problems of single function and weak scalability.
  • Fig. 1 is a schematic diagram of an electric two-wheeled vehicle application scenario applied by a vehicle intelligent control system based on dual independent control units of the present invention
  • Figure 2 is a diagram of the overall architecture of the vehicle intelligent control system based on dual independent control units of the present invention
  • Figure 3 is a structural block diagram of an embodiment of a vehicle intelligent control system based on dual independent control units of the present invention
  • FIG. 4 is a structural block diagram of another specific embodiment of a vehicle intelligent control system based on dual independent control units of the present invention.
  • FIG. 5 is a schematic diagram of a display interface of a user terminal of an embodiment of a vehicle intelligent control system based on dual independent control units of the present invention
  • FIG. 6 is a schematic diagram of the interaction mode of another embodiment of the vehicle intelligent control system with dual independent control units of the present invention.
  • FIG. 7 is a structural block diagram of the smart helmet of the embodiment shown in FIG. 6;
  • Fig. 8 is a structural block diagram of a specific embodiment of the second control unit in the vehicle intelligent control system based on dual independent control units of the present invention.
  • the present invention proposes a vehicle intelligent control system with an innovative architecture.
  • the system is based on the cloud interconnection interaction model, that is, the system includes a cloud service end, which exchanges information with each locomotive end, thereby forming a car-connected network consisting of a locomotive end and a cloud service end.
  • the locomotive end can be any vehicle that can perform remote data exchange, including electric bicycles, fuel motorcycles, electric motorcycles, electric scooters, etc. It can also be extended to fuel, pure electric, fuel cell, hybrid cars, tricycles, and motorcycles. Various vehicles such as cars and bicycles.
  • the car-connected network can also be connected to other terminals, including the user's mobile terminal, and other equipment terminals that are matched with the locomotive, such as batteries, battery chargers, and charging piles. , Smart helmets, etc.
  • the locomotive end of the present invention adopts a dual independent control unit architecture, that is, the locomotive end includes the first The control unit and the second control unit, and the two control units can perform real-time data exchange.
  • the first control unit can also be called the bottom control unit.
  • Its basic functions refer to the existing vehicle control functions, including real-time monitoring of the vehicle’s operating status and control of the vehicle’s operation, and at the same time accepting control instructions from the second control unit to achieve Functions for smart applications.
  • the second control unit can also be called the top-level control unit, which is mainly used to access the vehicle-connected network for data exchange, and also to realize the direct information interaction between the locomotive and the user (including controlling the display device to display the running status of the vehicle) , Information interaction with smart helmets, etc.).
  • the first control unit and the second control unit need to exchange data.
  • the first control unit needs to transmit at least part of the vehicle's operating status data to the second control unit in real time; at the same time, the first control unit can also receive internally predetermined instructions and receive from the second control unit The control instructions control the operation of the vehicle.
  • the second control unit receives the data transmitted by the first control unit, and can send at least part of the received data to the cloud server; at the same time, the second control unit can also receive data from the cloud service.
  • the control instruction of the terminal, the control instruction used to control the operation of the vehicle is transferred to the first control unit.
  • first control unit and the second control unit in the present invention can operate independently.
  • the independent operation referred to in the present invention means that the normal operation of the respective basic working modes of the two does not depend on the normal operation of the other party.
  • the first control unit may not be able to obtain control instructions from the second control unit, nor can it send vehicle operating status data to the second control unit in real time. However, the control instructions that cannot be acquired and the status data that cannot be sent It does not affect the basic driving control of the vehicle by the first control unit.
  • the second control unit of the top-level control unit even when the second control unit is not working properly, its basic network interconnection will not be affected. However, the second control unit may not be able to access from the first control unit. Obtaining the real-time vehicle operating status, it is also impossible to send external additional control commands to the first control unit.
  • the vehicle-connected network of the present invention is also accessed by other terminals.
  • the vehicle intelligent control system of the present invention further includes a user terminal, the user terminal can also interact with the cloud server, and the cloud server can also send control instructions from the user terminal to the second control unit.
  • the second control unit can receive control instructions from the user terminal, and forward the control instructions that need to be processed by the first control unit to the first control unit to implement remote control applications, such as remote locking for theft prevention.
  • the second control unit can also send the vehicle operating status data from the first control unit to the cloud server, including various operating status data of the vehicle.
  • the operating status mentioned here includes the environmental status of the vehicle, the status of the entire vehicle, and the status of various components, and not only the status of the vehicle when it is running, but also the vehicle is shut down and not started, started not moving, etc. Status in various modes.
  • the first control unit includes a sensor control module, which is used to obtain various real-time vehicle status information of the vehicle, including the remaining battery power, driving speed, etc., the first control unit can control the sensor module The obtained various information is sent to the second control unit, and the second control unit sends it to the cloud server.
  • the user terminal that establishes a connection with the cloud server and obtains authorization can obtain real-time status information of the vehicle in real time.
  • real-time monitoring of the vehicle on the mobile phone can be realized, including real-time monitoring of the battery power.
  • the vehicle of the present invention has a display device, the display device includes a display screen and a display module for controlling display content, and the second control unit includes the display module.
  • the display device can display information such as data (navigation data, etc.) or control instructions (connection instructions, etc.) received from the first control unit. More importantly, it can also receive vehicle status data from the first control unit and show. At this time, the second control unit controls the display module according to the vehicle state data received from the first control unit to display the real-time operating state of the vehicle on the display device.
  • the second control unit may also include some functional modules, such as a positioning module.
  • the positioning module is used to display the geographic location information of the detected vehicle, and the display module may display the electronic navigation chart according to the geographic location information.
  • the second control unit can also upload the geographic location information to the cloud server. In this way, other user terminals connected to the cloud server can obtain real-time geographic location information of the vehicle from the cloud server.
  • the display device or display module of the present invention can be used as the only display device or module of the vehicle, and can also cooperate with traditional mechanical instruments, electronic indicator lights, and the like.
  • the turn indicator lights such as LED lights
  • the display device can also display a pattern or animation indicating the turn.
  • the first control unit detects that the user's turn signal is turned on, and then sends data indicating the turn on state of the turn signal to the second control unit, and the second control unit controls the display module to perform corresponding patterns or animations according to the data .
  • the second control unit can also send the data indicating the turn-on state of the turn signal to the cloud server, and the user terminal that has established a connection with the cloud server can obtain the data on the turn-on state of the turn signal in real time.
  • the terminal can also display in real time that the vehicle turn signal is turned on.
  • the mobile phones of users other than the driver can receive the geographic location information of the vehicle and the real-time status of the vehicle’s lamps and lanterns uploaded by the second control unit when authorized.
  • the mobile phone displays the animation of the vehicle icon running on the map screen in real time, including the status of the various lights of the vehicle.
  • This collaborative remote display mode not only enables remote users to know the running status of the vehicle in detail, but also enhances the interest of the vehicle to the user and improves the user experience.
  • the second control unit can also control the display of the display module according to the user's operation instruction and/or the control instruction from the cloud server. For example, when the user suspects that the vehicle has been stolen, he can turn off the display device through remote operation, or display a corresponding warning message on the display device. For another example, after obtaining authorization, other users (such as friends or family members of the driver and passenger) can also send a message through the user terminal (mobile phone). The message is forwarded by the cloud server and received by the second control unit and passed through the second control. The control of the unit is displayed on the display device or the display module.
  • the second control unit can also send the message to the smart helmet, and the text message can be displayed on the screen, or the second control unit converts the text message into a voice message.
  • Send audio data to the smart helmet the driver can directly hear the voice message converted from the text message; or, for the audio message, the second control unit directly forwards it to the smart helmet, so that the driver can pass The helmet hears the audio message.
  • the first control unit includes a first electronic control unit
  • the second control unit includes a second electronic control unit
  • the first electronic control unit and the second electronic control unit can Real-time data exchange.
  • the first electronic control unit does not rely on the data transmitted from the second electronic control unit to control the driving operation of the vehicle.
  • the driving operation referred to here refers to the operation of functional components related to the driving function of the vehicle.
  • the first electronic control unit can be performed without relying on the second electronic control unit to work, so that even if the second electronic control unit is affected by the environment When changes (natural reasons such as overcooling, overheating, impact, etc., communication reasons such as no signal) fail to work normally, the first electronic control unit can still perform basic driving control, thereby improving the stability and safety of the vehicle.
  • the first electronic control unit sends the raw data obtained from the sensor or the aggregated data after processing the raw data to the second electronic control unit, and the second electronic control unit transmits the data from the first electronic control unit
  • the data is then sent to the cloud server.
  • the cloud server as a data center, can obtain all the data uploaded by the locomotive connected to it. These data can be modeled and processed to learn and use the user’s driving preferences and the operating rules of the locomotive, thereby improving the The control mode of the first control unit and the second control unit improves the intelligence of vehicle control and greatly improves the user experience.
  • the first electronic control unit and/or the second electronic control unit can monitor the crash state, and when the electronic control unit is detected to be in the crash state, the electronic control unit is controlled to restart itself .
  • the second electronic control unit is provided with a restart control module (such as MCU) and an application running module.
  • the restart control module monitors in real time whether the application running module of the second electronic control unit crashes, and if it crashes, it controls the Restart the application running module part.
  • the restart control module includes a first data storage module, and the data reported by the first electronic control unit or the control instruction issued by the cloud server is first cached in the restart control module, and then sent to the application running module.
  • the restart control module detects that the application running module is dead, in the dead state or during the restart process, when the second electronic control unit receives the data reported by the first electronic control unit or the control instruction from the cloud server,
  • the restart control module will buffer the reported data or issued control instructions in the first data storage module (for example, RAM). After the application running module starts normally, the restart control module will resend the data in the first data storage module to the application running module.
  • Fig. 1 is a schematic diagram of an application scenario of an electric two-wheeled vehicle applied by a vehicle intelligent control system based on dual independent control units of the present invention.
  • the locomotive terminal is installed on the electric motorcycle 10, and it can exchange data with the cloud server terminal 80 through a mobile communication network.
  • the electric motorcycle 10 can communicate with the mobile phone 20 and the smart helmet 30.
  • the mobile phone 20 as a mobile terminal can also exchange data with the cloud server 80 through a mobile communication network.
  • the electric motorcycle 10 is equipped with a battery 41, which can be taken out and placed in a battery-dedicated charging device 40 for charging.
  • the charging device also has a wireless communication module or a wired communication port, so that it can also exchange data with the cloud server 80.
  • the electric motorcycle 10, the mobile phone 20, and the charging device 40 can all communicate with the cloud server 80, thereby forming a vehicle-connected network.
  • the user can not only directly operate the electric motorcycle 10 and the charging device 40, but also remotely monitor and control access devices such as the electric motorcycle and the charging device through mobile communication devices such as mobile phones to realize various intelligent application functions.
  • the user can monitor the operating status of the electric motorcycle 10 in real time through the mobile phone 20, and monitor the operating status of the charging device 40 and the battery 41 charged therein.
  • the cloud server 80 can send a warning message to the mobile phone, such as a fault warning, an anti-theft warning, a battery charging abnormality or a charging completion warning.
  • the user can remotely control the electric motorcycle 10 and the charging device 40 by operating on the mobile phone 20, for example, remotely lock or unlock the electric motorcycle 10, and remotely control the charging parameters and charging of the charging device. Turning on and off, etc.
  • the other devices connected to the cloud server can be any device that can access the cloud server, such as PCs and smart watches. And so on, smart helmets and smart wearable devices (such as smart glasses) that match the vehicle can also be connected to the cloud server, thereby enriching the smart applications of the vehicle.
  • Figure 2 is an overall architecture diagram of the vehicle intelligent control system based on dual independent control units of the present invention.
  • the locomotive end includes a first control unit 11 and a second control unit 12, and the two control control units constitute a dual independent control unit architecture.
  • the dual independent control unit architecture means that the first control unit 11 and the second control unit can operate independently.
  • independent operation in the present invention means that the normal operation of the respective basic working modes of the two does not depend on the normal operation of the other party.
  • the basic locomotive control of the first control unit 11 will not be affected when the second control unit 12 is not working normally, but when the second control unit 12 is not working normally, the first control The unit 11 may not be able to obtain control instructions from the second control unit 12, nor can it send vehicle operating status data to the second control unit 12 in real time. However, the control instructions that cannot be obtained and the status data that cannot be sent do not affect The first control unit 11 affects the basic driving control of the vehicle.
  • the second control unit 12 does not work normally, its basic network interconnection will not be affected, but the second control unit 12 may not be able to obtain the real-time vehicle operating status from the first control unit 11. It is not possible to send external additional control commands to the first control unit 11.
  • the first control unit 11 can also be referred to as a bottom-level control unit. Its basic functions refer to the existing vehicle control functions, including real-time monitoring of the running status of the vehicle and controlling the operation of the vehicle, and at the same time accepting control commands from the second control unit 12 In order to realize the function of the intelligent application.
  • the second control unit 12 can also be called the top-level control unit, which is mainly used to access the vehicle-connected network for data exchange, and also to realize the direct information interaction between the locomotive and the user (including controlling the display device to display the operation of the vehicle). Status, information interaction with the smart helmet, etc.).
  • the first control unit 11 needs to transmit at least part of the running status data of the vehicle to the second control unit 12 in real time; at the same time, the first control unit 11 can also receive internally predetermined instructions and received from the first control unit 12 The control instructions of the second control unit 12 control the operation of the vehicle.
  • the second control unit 12 receives the data transmitted by the first control unit 11, and can send at least part of the received data to the cloud server; at the same time, the second control unit 12 can also receive data from all
  • the control instruction of the cloud server 80 transfers the control instruction used to control the operation of the vehicle to the first control unit 11.
  • the specific data or control instructions to be exchanged between the first control unit 11 and the second control unit 12, and between the second control unit 12 and the cloud server of the present invention can be based on specific vehicle types, application functions, and applications.
  • the environment and the like can be used for different designs, but they should not be used as a limitation to the present invention.
  • the vehicle intelligent control system of the present invention also includes a user terminal 20.
  • the user terminal 20 can also interact with the cloud server 80.
  • the cloud server 80 can also send control instructions from the user terminal 20.
  • the second control unit 12 can receive control instructions from the user terminal 20, and forward the control instructions that need to be processed by the first control unit 11 to the first control unit 11 to implement remote control applications, such as remote locking for theft prevention, etc. .
  • the second control unit 12 may also send the vehicle operating status data from the first control unit 11 to the cloud server 80, including various operating status data of the vehicle.
  • the operating status mentioned here includes the environmental status of the vehicle, the status of the entire vehicle, and the status of various components, and not only the status of the vehicle when it is running, but also the vehicle is shut down and not started, started not moving, etc. Status in various modes.
  • Fig. 3 is a structural block diagram of a specific embodiment of a vehicle intelligent control system based on dual independent control units of the present invention.
  • the first control unit 11 includes a first electronic control unit 111, a sensor control module 112, a human-computer interaction module 113 and an identity recognition module 114.
  • the second control unit includes a second electronic control unit 121, a communication module 122 and a display module 123.
  • the first electronic control unit 111 and the second electronic control unit 121 are connected for data exchange.
  • the first electronic control unit 111 is connected to the second electronic control unit 112 through CANBus (ControLLer Area Net-work Bus).
  • CANBus ControLLer Area Net-work Bus
  • the two can also be connected by other connecting wires, and the present invention does not limit the type of connecting wires.
  • the two electronic control units can usually be realized by ECU (Electronic Control Unit).
  • ECU is also called “driving computer”. It includes microprocessor (CPU), memory (ROM, RAM), input/output interface (I/O), It is composed of analog-to-digital converter (A/D) and large-scale integrated circuits such as shaping and driving.
  • CPU microprocessor
  • ROM memory
  • RAM memory
  • I/O input/output interface
  • A/D analog-to-digital converter
  • A/D analog-to-digital converter
  • the present invention does not exclude other forms of electronic control units, as long as they have certain data storage and processing capabilities.
  • the first electronic control unit 111 of this embodiment is connected with a sensor control module 112, a human-computer interaction module 113, and an identity recognition module 114.
  • the sensor control module 112 is used to connect various sensors of the vehicle, including battery sensors, The vehicle environment information sensor, the electronic control environment information sensor, etc. collect, aggregate, and preprocess the detection data obtained by each sensor and then send it to the first electronic control unit 111.
  • the first electronic control unit 111 sends the raw data obtained from the sensor or the aggregated data after processing the raw data to the second electronic control unit 112 via CANBus, and the second electronic control unit 112 sends the data from the first electronic control unit
  • the data of 111 is sent to the cloud server 80 in turn.
  • the human-computer interaction module 113 and the identity recognition module 114 belong to application modules, which are respectively used for the user's human-computer interaction and identity recognition.
  • the first electronic control unit 111 may also be connected to any other application modules, such as a light control module, an electronic switching module (dual battery or multiple batteries), FOC module, etc.
  • Various application modules usually include sensors and actuators.
  • the identity recognition module includes sensors for biometric identification, and circuits for locking and unlocking. The invention is not limited to specific application modules.
  • the first electronic control unit 111 may also send the raw data obtained from the sensors of each application module or the aggregated data obtained by processing the raw data to the second electronic control unit 112 via CANBus, and the second electronic control unit 112 The data from the first electronic control unit 111 is sent to the cloud server 80 in turn.
  • the application modules controlled by the first electronic control unit 112 mainly involve basic driving functions such as vehicle driving control, battery management, information collection, and human-computer interaction, so the first electronic control unit 112 can also be called driving Monitoring unit.
  • the second electronic control unit 112 mainly focuses on controlling the networking and multimedia functions of the vehicle, including connection with the cloud server 80, communication and positioning, display device control, audio and video control, etc. Therefore, the second electronic control unit 112 can also be referred to as a sensory interconnection unit.
  • the second electronic control unit 121 is connected with a communication module 122 and a display module 123.
  • One aspect of the communication module 122 is used to establish a connection with the cloud server 80.
  • it may be a mobile communication module supporting 4G communication, so as to send data to the cloud server 80 or download control instructions from the cloud server 80.
  • Another aspect of the communication module 122 is used to establish a connection with vehicle supporting equipment, such as connecting with a smart helmet through a Bluetooth module, to obtain the state of the smart helmet and send data to the smart helmet.
  • the display module 123 is used to control the display of the vehicle's display screen.
  • the second electronic control unit 121 may also be connected with other application modules, such as a positioning module.
  • the second electronic control unit 121 controls the display module according to the operating status data received from the first electronic control unit 111, so that the display screen displays the real-time operating status of the vehicle.
  • the second electronic control unit 121 can also control the display of the display module 123 according to the user's operation instruction and/or the control instruction from the cloud server.
  • the display module can control the display screen to display various vehicle data, including the driving speed of the vehicle, the battery level, the ambient temperature, the status of the turn signal, etc. .
  • the display module may also display a navigation map. That is to say, the present invention is not limited to the data or display mode that can be controlled by the display module.
  • the second electronic control unit 121 is also used to control the communication module 122 to send the vehicle operating state data (for example, data indicating the turn-on state of the turn signal) obtained by it to the cloud server 80
  • vehicle operating state data for example, data indicating the turn-on state of the turn signal
  • the user terminal 20 that has established a connection with the cloud server can obtain the running status data of the vehicle in real time. Therefore, the current running status of the vehicle can also be displayed on the user terminal in real time.
  • Fig. 4 is a structural block diagram of another specific embodiment of a vehicle intelligent control system based on dual independent control units of the present invention.
  • the difference from the previous embodiment is that the sensor control module of this embodiment is connected with an independent battery management module 1121, and the battery management module 1121 is used to manage the battery system of the electric motorcycle.
  • the battery of the electric motorcycle includes a power battery 1122 and a central control battery 1123.
  • the power battery 1122 is used to provide electrical energy for the power system of the locomotive, and the central control battery is used to provide electrical energy for the electrical system of the locomotive.
  • the power system refers to a system that provides power for vehicle driving, including electric motors, transmissions, and axles.
  • the electrical system refers to the electrical equipment or electrical components of the vehicle, including various sensors and control units included in the first control unit and the second control unit, as well as display modules, positioning modules, vehicle lighting equipment, and so on.
  • an independent battery management module 1121 is used to manage the battery system, which makes it possible to achieve more efficient and intelligent control of the vehicle battery system.
  • this embodiment includes two batteries.
  • the battery management module 1121 collects various status and information of each battery (including whether it is lost, etc.), monitors the battery status, and performs charging, discharging, and cycle times of the battery. manage.
  • the battery management module 1121 also collects various states such as the power of the battery, and manages the charging, discharging, and number of cycles of the battery.
  • the central control battery can be used as a main battery and a backup battery, and the battery management module 1121 is also responsible for managing the switching between the main battery and the backup battery.
  • the present invention proposes to use an independent battery management module to uniformly manage the battery system of the vehicle.
  • the battery management module can be realized by a special data processing device, which is convenient for more intelligent design and application expansion.
  • the use of an independent battery management module also facilitates the optimization and upgrade of the circuit design between the battery systems. For example, a special circuit or transmission method is designed for the circuit between the battery and the battery management module, so that the vehicle can better manage and control the battery. Robust and safe.
  • Fig. 5 is a schematic diagram of a display interface of a user terminal of an embodiment of a vehicle intelligent control system based on dual independent control units of the present invention.
  • One user terminal in this embodiment is a mobile phone, and the interface of the mobile phone is shown in Figure 5.
  • the interface includes an area simulating a display device of an electric motorcycle, on which an electronic map 203 is displayed.
  • the electronic map 203 can display a vehicle logo 204 representing the position of the electric motorcycle.
  • On both sides of the electronic map 203 are respectively provided turn indicator signs, which are a left turn sign 201 and a right turn sign 202 respectively.
  • a status information bar 204 is also provided under the simulation area of the display device for displaying the real-time status of the vehicle.
  • the electric motorcycle When the electric motorcycle is driven by a driver, the electric motorcycle can obtain real-time vehicle status information through the first control unit 11, including the real-time status of each lamp from the vehicle, the speed of the vehicle, and the remaining power of the vehicle battery. And the remaining mileage calculated by the first electronic control unit 111, etc.; the first control unit 11 sends these real-time vehicle status information to the second control unit 12, and the second control unit can also connect to the functional modules from it To obtain vehicle-related information, such as the geographic location information of the vehicle obtained from the positioning module. Therefore, the second control unit can merge the vehicle status data obtained from the first control unit 11 and the geographic location information obtained from the positioning module and send them to the cloud server 80.
  • vehicle-related information such as the geographic location information of the vehicle obtained from the positioning module. Therefore, the second control unit can merge the vehicle status data obtained from the first control unit 11 and the geographic location information obtained from the positioning module and send them to the cloud server 80.
  • the mobile phone connected to the electric motorcycle can simultaneously provide the geographical location information and vehicle status information of the vehicle, including the real-time status of the lamps, the speed of the vehicle, the remaining power of the vehicle battery, and the calculation by the first electronic control unit 111
  • the remaining mileage, etc. are displayed in the manner shown in FIG. 5, for example.
  • FIG. 5 is only an example of a mobile phone interface, and those skilled in the art can change and optimize the display mode of various data according to the information to be displayed.
  • the display mode shown in FIG. 5 should not be interpreted as a limitation on the display mode of the user terminal of the present invention.
  • an animation of a vehicle icon running on a map screen can be displayed on the mobile phone in real time, including the status of each indicator light of the vehicle.
  • This collaborative remote display mode not only enables remote users to know the running status of the vehicle in detail, but also enhances the interest of the vehicle to the user and improves the user experience.
  • Figure 5 shows a display interface on a mobile phone
  • the user terminal of the present invention can be not only a mobile phone, but also a variety of displays such as PC computers, tablet computers, smart watches, smart glasses, etc. Media and equipment with cloud server access capabilities. Through similar principles, various vehicle-related data can also be displayed on these user terminals.
  • Fig. 6 is a schematic diagram of the interaction mode of another embodiment of the vehicle intelligent control system with dual independent control units of the present invention.
  • the vehicle intelligent control system further includes a smart helmet 10, and the electric motorcycle 10 can communicate with the smart helmet 30.
  • the communication module 122 of the second control unit 12 of the vehicle intelligent control system further includes a communication unit for communicating with the smart helmet, such as a Bluetooth communication unit.
  • the second control unit 12 can exchange data with the smart helmet 30.
  • the second control unit 12 can also control the display content according to the user's operation instruction and/or the control instruction from the cloud server 80.
  • the user can perform a remote operation through the user terminal 20 to turn off the display device, or display corresponding warning information on the display device.
  • the user terminal mobile phone
  • the message is forwarded by the cloud server 80 and received by the second control unit 12, and passed through the second control unit 12
  • the control of the two control units is displayed on the display device or the display module.
  • the second control unit 10 can also interact with the smart helmet for data, and can display the text message on the screen.
  • the second control unit 12 converts the text message into a voice message and sends audio data to the smart helmet, so that the driver can directly hear the voice message converted from the text message.
  • the second control unit 10 directly forwards it to the smart helmet, so that the driver and the occupant can hear the audio message through the helmet.
  • FIG. 7 is a structural block diagram of the smart helmet 30 of the above embodiment.
  • the smart helmet 30 includes a main control module 31, a transceiver module 32, a call module 33, an audio unit 34 and a projection module 35.
  • the main control module 31 is used to control the work and coordination of each functional module, and to buffer related data
  • the transceiver module 32 is used to establish a communication connection with the communication module of the second control unit and to send and receive data
  • the call module 33 is used to receive users.
  • the audio module 34 is used to control the playback of audio information
  • the screen projection module 35 is used to display information on the screen.
  • the transceiver module 32 of the smart helmet can receive various information from the electric motorcycle, such as vehicle status information obtained by the first control unit, navigation voice information generated by the second control unit, and navigation instruction information (optionally displayed on the screen) ), a text message received from the cloud server by the second control unit (optionally displayed on the screen, or converted into voice by the second control unit and sent), voice message, etc.
  • the user's voice information received by the call module 33 can be sent to the second control module 12, and the second control module can convert it into a control command so that the user can set the entire system through voice, for example, the user can use the headset call module Say "Navigate to the train station", when the second control unit receives the voice, it opens its internal navigation application and sets the destination to the train station.
  • the audio module 34 can control the playback of various audios.
  • the audio includes the navigation voice from the second control unit, the voice message received from the cloud server 80, or the voice message converted from the received text message.
  • the projection module 35 is used to project various visually displayed information, including vehicle status information obtained by the first control unit, navigation indication information generated by the second control unit, and information received from the cloud server by the second control unit Wait.
  • the smart helmet described in this embodiment is an exemplary embodiment of the present invention, and any helmet that can establish a communication connection with an electric motorcycle and display or play information can be applied to the present invention.
  • the functional modules of the aforementioned smart helmet can be added or deleted according to different purposes.
  • the functions of the vehicle intelligent control system of the present invention are more diversified and convenient, and the user's experience of smart and remote control is further improved, and the user experience is improved.
  • Fig. 8 is a structural block diagram of a specific embodiment of the second control unit in the vehicle intelligent control system based on dual independent control units of the present invention.
  • the second electronic control unit 121 includes a restart control module 1211 and an application running module 1212.
  • the application running module 1212 is used to store, install and run various applications, and the restart control module 1212 is used to control the automatic restart of the application running module 1212.
  • the application running module can install an independent operating system, such as the Android system, so that various applications can be installed and updated on the operating system, which facilitates the addition of new functions and the upgrade of original functions.
  • the application running module 1212 may support the running of multiple smart applications at the same time, it may consume more system resources. Therefore, it may stop running (or “dead”) due to running errors under certain circumstances, such as Insufficient internal storage space causes overflow, etc.
  • the present invention proposes a self-restart setting. That is to say, there is a restart control module 1211 connected to the application running module 1212, which can be implemented by a microprocessor (MCU) for real-time monitoring of whether the application running module 1212 of the second electronic control unit 121 crashes, if If the crash is detected, the application running module is controlled to restart.
  • MCU microprocessor
  • the restart control module 1211 also controls the restart process. Considering that data may be interrupted during the crash and restart process, the restart control module 1211 in this embodiment includes a first data storage module 1213, which can be implemented by RAM, data reported by the first electronic control unit, or cloud server downloads, for example.
  • the issued control instruction is first cached in the first data storage module 1213 of the restart control module, and then sent to the application running module 1212.
  • the restart control module 1211 detects that the application running module 1212 is dead, in the dead state or in the process of restarting, the second electronic control unit 121 receives the data reported by the first electronic control unit 111 or comes from the cloud
  • the restart control module will buffer the reported data or issued control instruction in the first data storage module (for example, RAM).
  • the restart control module 1211 will resend the data in the first data storage module 1213 to the application running module 1212.
  • the present invention can be implemented by hardware capable of executing specific computer programs, such as the system of the present invention, and the electronic processing units, servers, clients, and the electronic processing units included in the system.
  • the mobile phone, control unit, processor, etc. the present invention can also be implemented by a vehicle including at least a part of the above-mentioned systems or components.
  • the present invention can also be implemented by computer software that executes the method of the present invention, for example, by control software executed by a microprocessor, an electronic control unit, a client, and a server on the locomotive side.
  • the computer software that executes the method of the present invention is not limited to be executed by one or a specific hardware entity, and it can also be implemented in a distributed manner by unspecified specific hardware, such as execution by a computer program. Some of the method steps can be executed on the locomotive side, and the other part can be executed in a mobile terminal or a smart helmet.
  • the software product can be stored in a computer-readable storage medium (can be CD-ROM, U disk, mobile hard disk, etc.) or on the network, including several instructions to make a data processing device (which can be a personal computer) , A server, or a network device, etc.) execute the above-mentioned method according to the present invention.
  • the computer-readable storage medium may include a data signal propagated in baseband or as a part of a carrier wave, and readable program code is carried therein. This propagated data signal can take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • the readable storage medium may also be any readable medium other than the readable storage medium, and the readable medium may send, propagate, or transmit the program for use by or in combination with the instruction execution system, apparatus, or device.
  • the program code contained on the readable storage medium can be transmitted by any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the above.
  • the program code used to perform the operations of the present invention can be written in any combination of one or more programming languages.
  • the programming languages include object-oriented programming languages—such as Java, C++, etc., as well as conventional procedural styles. Programming language-such as "C" language or similar programming language.
  • the program code can be executed entirely on the user's computing device, partly on the user's device, executed as an independent software package, partly on the user's computing device and partly executed on the remote computing device, or entirely on the remote computing device or server Executed on.
  • the remote computing device can be connected to a user computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (for example, using Internet service providers). Business to connect via the Internet).
  • LAN local area network
  • WAN wide area network
  • Internet service providers for example, using Internet service providers.

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Abstract

一种基于双独立控制单元的车辆智控系统以及相应的车辆（10）。车辆智控系统包括机车端和云服务端（80），机车端包括第一控制单元（11）和第二控制单元（12），二者可分别独立运行且能够进行实时数据交换。第一控制单元（11）实时监测车辆（10）的运行状态，并将至少部分运行状态数据实时传送给第二控制单元（12），且第一控制单元（11）根据内部预定指令及接收自第二控制单元（12）的控制指令控制车辆（10）的运行；第二控制单元（12）接收由第一控制单元（11）传送的数据，并将接收到的至少部分数据发送给云服务端（80），且第二控制单元（12）接收来自云服务端（80）的控制指令，将用于控制车辆（10）的运行的控制指令转送至第一控制单元（11）。

Description

基于双独立控制单元的车辆智控系统和车辆 技术领域
本发明属于车辆技术领域，特别适用于双轮车。本发明中所称的双轮车是指用作交通工具的电动自行车、摩托车、电动摩托车、电动滑板车等。但是本发明的技术方案也适用于需要进行智能控制的三轮车、四轮车等其他车辆。
背景技术
电动双轮车使用电池提供的能量来驱动。为了使电动机、电池等关键部件安全、稳定的运行，通常需要电子控制单元来统一控制这些部件。例如对电池的电压、电流的输出进行控制，对电动机的转速或输入功率进行调节，以及实现安全防盗、环境状态监测等功能。然而，现有的电子控制单元在人机交互的功能上较少，也不支持用户对于车辆的远程监测或远程访问。
随着通信技术及物联网技术的发展，车辆也逐渐发展成为万物互联的节点，人们有望通过移动客户端对车辆运行的状态进行远程监测，实现防盗提醒、远程管理等功能。为了实现这些功能，需要对车辆的控制单元统进行改进，增设用于远程通信、智能操控、模式识别、定位、报警等功能模块。然而，一方面，现有的车用电子控制单元(ECU)扩展性不强，难以适应不断增加的新的智能化应用需求；另一方面，新增于ECU的扩展功能会增加ECU资源的消耗，挤占了原有车控功能的资源，而复杂的功能也会导致行车控制的安全性降低。
因此，业界极需一种适合于远程访问和智能化，并且运行稳定、扩展性强、容错率高，并且特别适合于应用于电动双轮车的车辆智控系统。
发明内容
本发明旨在解决现有的车辆智控系统存在的功能单一、扩展性弱、稳定性差、容错率低和安全性不高等问题。
为解决上述技术问题，本发明的一方面提出一种基于双独立控制单元的车辆智控系统，包括机车端和云服务端，所述机车端能够与云服务端进行信息交互，所述机车端包括第一控制单元和第二控制单元，二者可分别独立运行且能够进行实时数据交换；所述第一控制单元实时监测所述车辆的运行状态，并将 至少部分运行状态数据实时传送给第二控制单元；同时，该第一控制单元根据内部预定指令及接收自所述第二控制单元的控制指令控制车辆的运行；所述第二控制单元接收由所述第一控制单元传送的数据，并将接收到的至少部分数据发送给云服务端；同时，该第二控制单元接收来自所述云服务端的控制指令，将用于控制车辆的运行的控制指令转送至所述第一控制单元。
根据本发明的优选实施方式，该车辆智控系统还包括用户终端，所述用户终端也能够与所述云服务端进行信息交互；所述云服务端还用于将来自用户终端的控制指令发送至所述第二控制单元。
根据本发明的优选实施方式，所述第二控制单元将其获得的所述运行状态数据发送到云服务端；与云服务端建立连接的用户终端获取所述运行状态数据，以在用户终端上实时显示车辆的当前运行状态。
根据本发明的优选实施方式，所述第一控制单元包括第一电子控制单元，所述第二控制单元包括第二电子控制单元，所述第一电子控制单元和第二电子控制单元能够进行实时数据交换；所述第一电子控制单元不依赖于第二电子控制单元传送的数据对所述车辆的行驶进行控制。
根据本发明的优选实施方式，所述第二控制单元包括设置于车辆的显示模块，所述显示模块用于显示所述运行状态数据。
根据本发明的优选实施方式，所述第二控制单元还根据用户的操作指令和/或来自云服务端的控制指令控制所述显示模块的显示。
根据本发明的优选实施方式，所述第二控制单元包括设置车辆的定位模块，所述定位模块用于获取车辆的地理位置信息；所述显示模块还用于显示所述地理位置信息。
根据本发明的优选实施方式，所述第二控制单元将所述地理位置数据发送到云服务端；与云服务端建立连接的用户终端获取所述地理位置数据，以在用户终端上实时显示车辆的地理位置。
根据本发明的优选实施方式，所述第一控制单元还包括传感器，所述传感器用于获取所述车辆运行状态数据，所述第一电子控制单元根据所述传感器获得的运行状态数据控制所述车辆的运行。
根据本发明的优选实施方式，所述第一电子控制单元还用于将所述传感器获得的原始数据或者对所述原始数据进行处理后的汇总数据发送至所述第二电 子控制单元；所述第二电子控制单元还用于将其自身获得的数据和/或所述来自第一电子控制单元的数据发送给所述云服务端。
根据本发明的优选实施方式，所述车辆智控系统还包括智能头盔，所述第二电子控制单元可与所述智能头盔进行数据交换，以将从所述第一控制单元、第二控制单元和/或云服务端获取的数据发送到所述智能头盔；
所述智能头盔用于对所述获得的数据进行展示和/或播放。
根据本发明的优选实施方式，所述智能头盔包括投屏模块，其用于将来自所述第二电子控制单元的信息进行可视化投屏显示。
根据本发明的优选实施方式，所述第二电子控制单元包括重启控制模块和应用运行模块；所述应用运行模块用于存储、安装和运行各类应用；所述重启控制模块用于控制所述应用运行模块的自动重起。
根据本发明的优选实施方式，所述重启控制模块包括第一数据存储模块；所述第一电子控制单元向第二电子控制单元上报的数据或者所述云服务端下发到第二电子控制单元的控制指令先缓存于所述第一数据存储模块，然后再由重启控制模块发送至所述应用运行模块。
根据本发明的优选实施方式，所述第一电子控制单元连接有以下模块的至少一种：传感控制模块、人机交互模块和身份识别模块。
根据本发明的优选实施方式，所述传感控制模块连接有电池管理模块，所述电池管理模块用于控制所述车辆的电池系统。
本发明的另一方面还提出一种车辆，包括车体和车辆控制单元统，所述车辆控制单元统包括第一控制单元和第二控制单元，二者可分别独立运行且能够进行实时数据交换；所述第一控制单元实时监测所述车辆的运行状态，并将至少部分运行状态数据实时传送给第二控制单元；同时，该第一控制单元根据内部预定指令及接收自所述第二控制单元的控制指令控制车辆的运行；所述第二控制单元接收由所述第一控制单元传送的数据，并将接收到的至少部分数据发送至一云服务端；同时，该第二控制单元接收来自所述云服务端的控制指令，将用于控制车辆的运行的控制指令转送至所述第一控制单元。
根据本发明的优选实施方式，所述第一控制单元包括第一电子控制单元，所述第二控制单元包括第二电子控制单元，所述第一电子控制单元和第二电子控制单元能够进行实时数据交换；所述第一电子控制单元不依赖于第二电子控制单元传送的数据对所述车辆的行驶进行控制。
根据本发明的优选实施方式，所述第二控制单元包括设置于车辆的显示模块，所述显示模块用于显示所述运行状态数据。
根据本发明的优选实施方式，所述第二控制单元还根据用户的操作指令和/或来自所述云服务端的控制指令控制所述显示模块的显示。
根据本发明的优选实施方式，所述第二控制单元包括设置车辆的定位模块，所述定位模块用于获取车辆的地理位置信息；所述显示模块还用于显示所述地理位置信息。
根据本发明的优选实施方式，所述第二控制单元将所述地理位置数据发送到云服务端。
根据本发明的优选实施方式，所述第一控制单元还包括传感器，所述传感器用于获取所述车辆运行状态数据，所述第一电子控制单元根据所述传感器获得的运行状态数据控制所述车辆的运行。
根据本发明的优选实施方式，所述第一电子控制单元还用于将所述传感器获得的原始数据或者对所述原始数据进行处理后的汇总数据发送至所述第二电子控制单元；所述第二电子控制单元还用于将其自身获得的数据和/或所述来自第一电子控制单元的数据发送给所述云服务端。
根据本发明的优选实施方式，所述第二电子控制单元包括重启控制模块和应用运行模块；所述应用运行模块用于存储、安装和运行各类应用；
所述重启控制模块用于控制所述应用运行模块的自动重起。
根据本发明的优选实施方式，所述重启控制模块包括第一数据存储模块；所述第一电子控制单元向第二电子控制单元上报的数据或者所述云服务端下发到第二电子控制单元的控制指令先缓存于所述第一数据存储模块，然后再由重启控制模块发送至所述应用运行模块。
本发明通过设计的双独立控制单元的架构，使得智能化的、需要运程控制的、基于网络互联的智能应用和底层的车辆控制相互隔离，提高了车辆的安全性。
同时，本发明设计了顶层控制单元的自动重启，使得整体系统的适应性、稳定性更强，并改善了用户体验。
本发明的顶层控制单元具有独立的运行平台，可以进行更多的智能化扩展，解决了功能单一、扩展性弱的问题。
附图说明
图1是本发明的基于双独立控制单元的车辆智控系统所应用的电动双轮车应用场景的示意图；
图2是本发明的基于双独立控制单元的车辆智控系统的整体架构图；
图3是本发明的基于双独立控制单元的车辆智控系统一个实施例的结构框图；
图4是本发明的基于双独立控制单元的车辆智控系统另一具体实施例的结构框图；
图5是本发明的基于双独立控制单元的车辆智控系统的一个实施例的用户终端的显示界面示意图；
图6是本发明的于双独立控制单元的车辆智控系统的另一个实施例的交互方式示意图；
图7是图6所示的实施例的智能头盔的结构框图；
图8是本发明的基于双独立控制单元的车辆智控系统中的第二控制单元的一个具体实施例的结构框图。
具体实施方式
在对于具体实施例的介绍过程中，对结构、性能、效果或者其他特征的细节描述是为了使本领域的技术人员对实施例能够充分理解。但是，并不排除本领域技术人员可以在特定情况下，以不含有上述结构、性能、效果或者其他特征的技术方案来实施本发明。
附图中的流程图仅是一种示例性的流程演示，不代表本发明的方案中必须包括流程图中的所有的内容、操作和步骤，也不代表必须按照图中所显示的的顺序执行。例如，流程图中有的操作/步骤可以分解，有的操作/步骤可以合并或部分合并，等等，在不脱离本发明的发明主旨的情况下，流程图中显示的执行顺序可以根据实际情况改变。
附图中的框图一般表示的是功能实体，并不一定必然与物理上独立的实体相对应。即，可以采用软件形式来实现这些功能实体，或在一个或多个硬件模块或集成电路中实现这些功能实体，或在不同网络和/或处理单元装置和/或微控制器装置中实现这些功能实体。
各附图中相同的附图标记表示相同或类似的元件、组件或部分，因而下文中可能省略了对相同或类似的元件、组件或部分的重复描述。还应理解，虽然本文中可能使用第一、第二、第三等表示编号的定语来描述各种器件、元件、组件或部分，但是这些器件、元件、组件或部分不应受这些定语的限制。也就是说，这些定语仅是用来将一者与另一者区分。例如，第一器件亦可称为第二器件，但不偏离本发明实质的技术方案。此外，术语“和/或”、“及/或”是指包括所列出项目中的任一个或多个的所有组合。
本发明提出一种创新架构的车辆智控系统。整体上，该系统基于云端互联交互模式，即系统包括有云服务端，云服务端与各个机车端进行信息交互，由此形成一个由机车端和云服务端构成的车联网络。机车端可以是任何可进行远程数据交换的车辆，包括电动自行车、燃油摩托车、电动摩托车、电动滑板车等，也可扩展到燃油、纯电动、燃料电池、混合动力的汽车、三轮车、摩托车、自行车等的各种车辆。当然，为了功能扩展需要，所述的车联网络除了与机车端连接，还可以接入其它终端，包括用户的移动终端，以及与机车配套的其他设备终端，例如电池、电池充电器、充电桩、智能头盔等。
为了解决现有技术的车辆电子控制单元在智能应用扩展方面运行不稳定、扩展性弱、容错率差等问题，本发明的机车端采用一种双独立控制单元的架构，即机车端包括第一控制单元和第二控制单元，且两个控制单元可进行实时的数据交换。第一控制单元也可称为底层控制单元，其基本功能参照现有的车辆控制功能，包括实时监测所述车辆的运行状态和控制车辆的运行，同时可接受第二控制单元的控制指令以实现智能应用方面的功能。第二控制单元也可称为顶层控制单元，主要用于接入车联网络以进行数据交换，同时用于实现机车端与用户之间的直接信息交互(包括控制显示设备来显示车辆的运行状态、与智能头盔的信息交互等)。
为了实现基于远程控制的智能应用方面的功能，第一控制单元和第二控制单元需要进行数据交换。具体来说，一方面，第一控制单元需要将至少部分车辆的运行状态数据实时传送给第二控制单元；同时，该第一控制单元还可根据内部预定指令及接收自所述第二控制单元的控制指令控制车辆的运行。另一方面，第二控制单元接收由所述第一控制单元传送的数据，并能够将接收到的至少部分数据发送给云服务端；同时，该第二控制单元还可接收来自所述云服务端的控制指令，将其中用于控制车辆运行的控制指令转送至所述第一控制单元。
需要说明的是，本发明的第一控制单元与第二控制单元之间，以及第二控制单元与云服务端之间所要交换的具体数据或控制指令，则可根据具体的车辆类型、应用功能、应用环境等来进行不同的设计，但不应作为对本发明的限制。
更加需要强调的是，本发明中的第一控制单元和第二控制单元可分别独立运行。本发明中所称的独立运行，是指二者各自的基本工作模式的正常运行不依赖于另一方的正常运行。具体来说，一方面，作为底层控制单元的第一控制单元，即便在第二控制单元不正常工作时，其基本的机车控制也不会受到影响，只不过，在第二控制单元不正常工作时，第一控制单元可能无法从第二控制单元获取控制指令，也无法实时地将车辆运行状态数据发送到第二控制单元中，但是，所述的不能获取的控制指令和不能发送的状态数据不影响第一控制单元对于车辆的基本行车控制造成影响。另一方面，作为顶层控制单元的第二控制单元，即便在第二控制单元不正常工作时，其基本的网络互联也不会受到影响，只不过，第二控制单元可能无法从第一控制单元获取实时的车辆运行状态，也无法将外部的额外控制指令发送到第一控制单元中。
如前所述，本发明的车联网络还被其他终端接入。一种实施方式是，本发明的车辆智控系统还包括用户终端，用户终端也能够与所述云服务端进行信息交互，云服务端还能够将来自用户终端的控制指令发送至所述第二控制单元。由此，第二控制单元可以接收来自用户终端的控制指令，并将需要第一控制单元处理的控制指令转送给第一控制单元，以实现远程控制方面的应用，例如为了防盗进行远程锁定等。
同时，第二控制单元还可以将来自第一控制单元的车辆运行状态数据发送给云服务端，包括车辆的各种运行状态数据。需要说明的是，这里所说的运行状态包括车辆的环境状态、整车状态和各部件的状态，并且，不仅包括车辆在行驶时的状态，也包括车辆在关停未启动、启动未行进等各种模式下的状态。
作为一个具体的例子，第一控制单元包括有传感控制模块，其用于获取车辆的各种实时车辆状态信息，包括电池的剩余电量、行驶速度等，第一控制单元可以将传感控制模块获得的各种信息发送给第二控制单元，第二控制单元将其发送到云服务端。由此，与云服务端建立连接并获得授权的用户终端可以实时地获取车辆的实时状态信息。由此，可以实现在手机上对车辆进行实时监测，包括对电池电量的实时监测。
作为优选的实施方式，本发明的车辆具有显示装置，显示装置包括显示屏和用于控制显示内容的显示模块，第二控制单元包括该显示模块。该显示装置可以显示来自第一控制单元接收的数据(导航数据等)或控制指令(连接指令等)等信息，更重要的是，其还能接收来自所述第一控制单元的车辆状态数据并显示。此时，第二控制单元根据接收自所述第一控制单元的车辆状态数据控制所述显示模块，以在显示装置上显示所述车辆的实时运行状态。
除此之外，第二控制单元也可以包括一些功能模块，例如定位模块，定位模块用于显示检测车辆的地理位置信息，显示模块可根据该地理位置信息显示电子导航电图。同时，第二控制单元亦可将该地理位置信息上传到云服务器。这样，与云服务器相连接的其他用户终端就可以从云服务器上获取车辆的实时地理位置信息。
此外，本发明的显示装置或显示模块既可以作为车辆的唯一显示装置或模块，也可以配合传统的机械仪表、电子指示灯等协同工作。例如，当驾驶车辆的用户开启车辆的转向灯时，在车辆上的转向指示灯(如LED灯)可以一并亮起，而在显示装置上也可以显示表示转向的图案或动画。此时，第一控制单元检测到用户的转向灯为开启状态，随之将表示转向灯开启状态的数据发送给第二控制单元，第二控制单元根据该数据控制显示模块进行相应的图案或动画。更进一步的，第二控制单元还可以将该表示转向灯开启状态的数据发送到云服务端，与云服务端建立连接的用户终端可以实时获取该转向灯开启状态的数据，由此，在用户终端上也可以实时显示车辆转向灯被开启。
基于上述，作为更具体的例子，驾驶者之外的其他用户的手机在已被授权的情况下，可以接收第二控制单元上传的车辆的地理位置信息和车辆的各个灯具的实时状态，在该手机上实时地显示车辆图标在地图画面上运行的动画，包括车辆各个灯的状态。这种协同远程显示方式不但能使远程用户详细地获知车辆的运行状态，也同时增强了车辆对于用户的趣味性，提高了用户体验。
此外，对于显示模块或显示装置来说，第二控制单元还能根据用户的操作指令和/或来自云服务端的控制指令控制所述显示模块的显示。例如，在用户怀疑车辆被盗的情况下，其可以通过远程操作来关闭显示装置，或者在显示装置上显示相应的警告信息等。再例如，其他用户(例如驾乘者的朋友或家人)在获得授权后，还可以通过用户终端(手机)发送消息，该消息通过云服务器的转发被第二控制单元接收，并经由第二控制单元的控制显示于显示装置或显示 模块上。此外，当车辆连接有相配套的智能头盔时，第二控制单元也可以将该消息发送到智能头盔，对于文本消息可进行投屏显示，或者，第二控制单元将文本消息转换成语音消息后向智能头盔发送音频数据，驾乘者可以直接听到所发送的文字消息转换的语音消息；再或者，对于音频消息，则第二控制单元直接将其转发至向智能头盔，使驾乘者通过头盔听到该音频消息。
更进一步的来说，作为优选的方式，所述第一控制单元包括第一电子控制单元，所述第二控制单元包括第二电子控制单元，且第一电子控制单元和第二电子控制单元能够进行实时数据交换。并且，为了实现第一控制单元和第二控制单元分别独立运行，所述第一电子控制单元不依赖于来自第二电子控制单元传送的数据控制所述车辆的行车运行。这里所称的行车运行是指与车辆的行驶功能相关的功能部件的运行。也就是说，除了远程控制等需要涉及网络互联功能的其他操作，第一电子控制单元均可以在不依赖第二电子控制单元工作的状态下进行，由此，即便因第二电子控制单元因环境变化(过冷、过热、撞击等自然原因，没有信号等通信原因)而不能正常工作时，第一电子控制单元仍能进行基本的行驶控制，从而提高了车辆的稳定性和安全性。
具体来说，第一电子控制单元将从传感器获得的原始数据或者对所述原始数据进行处理后的汇总数据发送至第二电子控制单元，而第二电子控制单元将来自第一电子控制单元的数据转而发送给所述云服务端。由此，云服务端作为一个数据中心，可获取所有与之连接的机车端上传的数据，这些数据可以进行建模处理，以对用户驾驶偏好及机车端运行规律的学习和利用，从而改善第一控制单元和第二控制单元的控制方式，提高车辆控制的智能化，极大的提高用户体验。
优选的，为了提高系统的稳定性，第一电子控制单元和/或第二电子控制单元可以监测死机状态，并且在监测到电子控制单元在死机状态下，则控制电子控制单元进行自行的重启动。
作为一个具体的例子，第二电子控制单元中设有重启控制模块(例如MCU)和应用运行模块，重启控制模块实时监测第二电子控制单元的应用运行模块部分是否死机，如果死机，则控制该应用运行模块部分进行重新启动。
进一步的，重启控制模块包括第一数据存储模块，第一电子控制单元上报的数据或者云服务端下发的控制指令先缓存于所述重启控制模块，然后再发送至应用运行模块。
如果重启控制模块检测到应用运行模块死机，在该死机状态下或者在进行重启的过程中，第二电子控制单元在收到第一电子控制单元上报的数据或者来自云服务端的控制指令时，所述重启控制模块会在第一数据存储模块(例如RAM)中缓存该上报的数据或下发的控制指令。等到所述应用运行模块正常启动后，所述重启控制模块会把第一数据存储模块中的数据重新发送给应用运行模块。
上述的第二电子控制单元的自行重新启动的方式同样也适用于第一电子控制单元，故在此不再重复说明。
为使本发明的目的、技术方案和优点更加清楚明白，以下结合具体实施例，并参照附图，对本发明作进一步的详细说明。
在对于具体实施例的介绍过程中，对结构、性能、效果或者其他特征的细节描述是为了使本领域的技术人员对实施例能够充分理解。但是，并不排除本领域技术人员可以在特定情况下，以不含有上述结构、性能、效果或者其他特征的技术方案来实施本发明。
附图中的流程图仅是一种示例性的流程演示，不代表本发明的方案中必须包括流程图中的所有的内容、操作和步骤，也不代表必须按照图中所显示的的顺序执行。例如，流程图中有的操作/步骤可以分解，有的操作/步骤可以合并或部分合并，等等，在不脱离本发明的发明主旨的情况下，流程图中显示的执行顺序可以根据实际情况改变。
附图中的框图一般表示的是功能实体，并不一定必然与物理上独立的实体相对应。即，可以采用软件形式来实现这些功能实体，或在一个或多个硬件模块或集成电路中实现这些功能实体，或在不同网络和/或处理单元装置和/或微控制器装置中实现这些功能实体。
各附图中相同的附图标记表示相同或类似的元件、组件或部分，因而下文中可能省略了对相同或类似的元件、组件或部分的重复描述。还应理解，虽然本文中可能使用第一、第二、第三等表示编号的定语来描述各种器件、元件、组件或部分，但是这些器件、元件、组件或部分不应受这些定语的限制。也就是说，这些定语仅是用来将一者与另一者区分。例如，第一器件亦可称为第二器件，但不偏离本发明实质的技术方案。此外，术语“和/或”、“及/或”是指包括所列出项目中的任一个或多个的所有组合。
图1是本发明的基于双独立控制单元的车辆智控系统所应用的电动双轮车应用场景的示意图。
如图1所示，在该示例性应用场景中，机车端安装于电动摩托车10上，其能够与云服务端80进行通过移动通信网络进行数据交换。同时，电动摩托车10能够与手机20和智能头盔30进行通信连接。其中，作为移动终端的手机20也可通过移动通信网络与云服务端80进行数据交换。此外，该电动摩托车10安装有电池41，所述电池41可被取出并放置于电池专用的充电设备40中进行充电。该充电设备也具有无线通信模块或有线通信模埠，从而也能够与云服务端80进行数据交换。
可见，电动摩托车10、手机20、充电设备40均能够与云服务端80进行通信连接，从而形成一个车联网络。用户不但可以对电动摩托车10、充电设备40进行直接的操作，也可以通过手机等移动通信设备对电动摩托车、充电设备等接入设备进行远程的监测和控制，实现各种智能应用功能。
例如，用户可以通过手机20实时地监测电动摩托车10的运行状态，监测充电设备40及在其中进行充电的电池41的运行状态。同时，当制电动摩托车10和充电设备40检测到异常时，可以通过云服务端80向手户手机发送警告消息，例如进行故障警告、防盗警告、电池充电异常或充电电完成警告等。更进一步来说，用户还可以通过在手机20上进行操作来远操的控制电动摩托车10和充电设备40，例如远程地锁定或解锁电动摩托车10，远程地控制充电设备的充电参数、充电的接通和断开等。
值得说明的是，以上图1所示的应用场景仅是示例，除了机车端和云服务端，其他与云服务端接入的设备可以是任意能够接入云服务端的设备，例如PC、智能手表等，与车辆配套的智能头盔、智能穿戴设备(如智能眼镜)等也可以接入到云服务端，从而更加丰富车辆的智能应用。
图2是本发明的基于双独立控制单元的车辆智控系统的整体架构图。如图2所示，所述的机车端包括第一控制单元11和第二控制单元12，二个控制控制单元构成一种双独立控制单元的架构。双独立控制单元架构是指第一控制单元11和第二控制单元可分别独立运行。如前所述，本发明中所称的独立运行，是指二者各自的基本工作模式的正常运行不依赖于另一方的正常运行。具体来说，一方面，第一控制单元11在第二控制单元12不正常工作时，其基本的机车控制不会受到影响，只不过，在第二控制单元12不正常工作时，第一控制单元11 可能无法从第二控制单元12获取控制指令，也无法实时地将车辆运行状态数据发送到第二控制单元12中，但是，所述的不能获取的控制指令和不能发送的状态数据不影响第一控制单元11对于车辆的基本行车控制造成影响。另一方面，在第二控制单元12不正常工作时，其基本的网络互联也不会受到影响，只不过，第二控制单元12可能无法从第一控制单元11获取实时的车辆运行状态，也无法将外部的额外控制指令发送到第一控制单元11中。
在两个控制单元均正常工作时，二者可进行实时的数据交换。为了实现基于远程控制的智能应用方面的功能，第一控制单元11和第二控制单元12需要进行数据交换。第一控制单元11也可称为底层控制单元，其基本功能参照现有的车辆控制功能，包括实时监测所述车辆的运行状态和控制车辆的运行，同时可接受第二控制单元12的控制指令以实现智能应用方面的功能。第二控制单元12也可称为顶层控制单元，主要用于接入车联网络以进行数据交换，同时用于实现机车端与用户之间的直接信息交互(包括控制显示设备来显示车辆的运行状态、与智能头盔的信息交互等)。
具体来说，一方面，第一控制单元11需要将至少部分车辆的运行状态数据实时传送给第二控制单元12；同时，该第一控制单元11还可根据内部预定指令及接收自所述第二控制单元12的控制指令控制车辆的运行。另一方面，第二控制单元12接收由所述第一控制单元11传送的数据，并能够将接收到的至少部分数据发送给云服务端；同时，该第二控制单元12还可接收来自所述云服务端80的控制指令，将其中用于控制车辆运行的控制指令转送至所述第一控制单元11。
本发明的第一控制单元11与第二控制单元12之间，以及第二控制单元12与云服务端之间所要交换的具体数据或控制指令，则可根据具体的车辆类型、应用功能、应用环境等来进行不同的设计，但不应作为对本发明的限制。
如图2所示，本发明的车辆智控系统还包括用户终端20，用户终端20也能够与所述云服务端80进行信息交互，云服务端80还能够将来自用户终端20的控制指令发送至所述第二控制单元12。第二控制单元12可以接收来自用户终端20的控制指令，并将需要第一控制单元11处理的控制指令转送给第一控制单元11，以实现远程控制方面的应用，例如为了防盗进行远程锁定等。
同时，第二控制单元12还可以将来自第一控制单元11的车辆运行状态数据发送给云服务端80，包括车辆的各种运行状态数据。需要说明的是，这里所 说的运行状态包括车辆的环境状态、整车状态和各部件的状态，并且，不仅包括车辆在行驶时的状态，也包括车辆在关停未启动、启动未行进等各种模式下的状态。
图3是本发明的基于双独立控制单元的车辆智控系统一个具体实施例的结构框图。如图3所示，在该实施例中，第一控制单元11包括第一电子控制单元111、传感控制模块112、人机交互模块113和身份识别模块114。第二控制单元包括第二电子控制单元121、通信模块122和显示模块123。第一电子控制单元111和第二电子控制单元121连接以进行数据交换。作为具体的实施方式，第一电子控制单元111通过CANBus(ControLLer Area Net-work Bus)与第二电子控制单元112连接。在其他实施方式中，二者也可以通过其他的连接线连接，本发明对于连接线的类型不作限制。
两个电子控制单元通常可以由ECU(Electronic Control Unit)实现，ECU又称“行车电脑”，通过包括微处理器(CPU)、存储器(ROM、RAM)、输入/输出接口(I/O)、模数转换器(A/D)以及整形、驱动等大规模集成电路组成。但本发明也不排除其他形式的电子控制单元，只要其具备一定的数据存储及处理能力。
本实施例的第一电子控制单元111连接有传感控制模块112、人机交互模块113和身份识别模块114，所述传感控制模块112用于连接车辆的各种传感器，包括电池传感器、整车环境信息传感器、电控环境信息传感器等，收集、汇总、预处理各传感器得到的检测数据后发送给第一电子控制单元111。第一电子控制单元111将从传感器获得的原始数据或者对所述原始数据进行处理后的汇总数据通过CANBus发送至第二电子控制单元112，而第二电子控制单元112将来自第一电子控制单元111的数据转而发送给所述云服务端80。
人机交互模块113和身份识别模块114属于应用模块，其分别用于用户的人机交互和身份识别。在其他的实施方式中，与第一电子控制单元111相连接的也可以是其他任何的应用模块，例如灯光控制模块、电子切换模块(双电池或多电池时)、FOC模块等。各种应用模块通常都包括传感器和执行机构，例如，身份识别模块包括用于生物特征识别的传感器，也包括用于上锁和解锁的电路等。本发明不限于具体的应用模块。第一电子控制单元111也可以将来自各应用模块的传感器获得的原始数据或者对所述原始数据进行处理后的汇总数据通过CANBus发送至第二电子控制单元112，而第二电子控制单元112将来自第一电子控制单元111的数据转而发送给所述云服务端80。
该实施例中，第一电子控制单元112所控制的应用模块主要涉及车辆的行驶控制、电池管理、信息采集和人机交互等基本行车运行功能，所以第一电子控制单元112亦可称为行车监测单元。而第二电子控制单元112则主要偏向于控制车辆的联网和多媒体功能，包括与云服务端80的连接，通讯和定位、显示装置的控制、音响和影像的控制等。因此，第二电子控制单元112亦可称为感官互联单元。
在该实施例中，第二电子控制单元121连接有通信模块122和显示模块123。通信模块122的一方面用于与云服务端80建立连接，例如其可以是支持4G通信的移动通信模块，以便向云服务端80发送数据或从云服务端80下载控制指令。通信模块122的另一方面用于与车辆配套设备建立连接，例如通过蓝牙模块与智能头盔进行连接，以获取智能头盔的状态并向智能头盔发送数据。
而显示模块123则用于控制车辆的显示屏的显示。很显然，在其他的实施方式中，第二电子控制单元121还可以与其他的应用模块连接，例如定位模块。
对于该实施例中的显示模块，第二电子控制单元121根据接收自第一电子控制单元111的运行状态数据来控制显示模块，以使显示屏显示车辆的实时运行状态。同时，所述第二电子控制单元121还可以根据用户的操作指令和/或来自云服务端的控制指令控制显示模块123的显示。
该实施例中，根据从第一控制单元及第二控制单元获取的数据，显示模块可以控制显示屏显示各类车辆数据，包括车辆的行驶速度、电池的电量、环境温度、转向灯的状态等。在包括定位模块的其他实施例中，显示模块还可以显示导航地图。也就是说，本发明不限于显示模块能够控制显示的数据或显示方式。
更进一步的，在该实施例中，第二电子控制单元121还用于控制通信模块122，以将该其获得的车辆运行状态数据(例如表示转向灯开启状态的数据)发送到云服务端80，与云服务端建立连接的用户终端20可以实时获取该车辆的运行状态数据，由此，在用户终端上也可以实时显示车辆的当前运行状态。
图4是本发明的基于双独立控制单元的车辆智控系统另一具体实施例的结构框图。如图4所示，与前一实施例不同的是，该实施例的传感控制模块连接有独立的电池管理模块1121，电池管理模块1121用于管理电动摩托车的电池系统。在该实施例中，电动摩托车的电池包括动力电池1122和中控电池1123，动力电池1122用于为机车的动力系统提供电能，中控电池用于为机车的电气系统 提供电能。所述的动力系统是指使为车辆行驶提供动力的系统，包括电动机、变速器、轮轴等。所述的电气系统是指车辆的电气设备或电气元件，包括第一控制单元和第二控制单元所包含的各类传感器、控制单元，也包括显示模块、定位模块、车辆照明设备等。
在该实施例中，采用独立的电池管理模块1121管理电池系统，使得对于车辆电池系统的控制实现更加高效和智能化控制成为可能。对于动力电池来说，本实施例包括两个电池，电池管理模块1121采集各电池的各种状态及信息(包括是否丢失等)，对电池状态进行监控，对电池的充电、放电、循环次数进行管理。动于中控电池来说，电池管理模块1121同样也采集电池的电量等各种状态，动电池的充电、放电、循环次数等进行管理。中控电池可当采用主、备电池，电池管理模块1121还负责管理主、备电池的切换。
随着电动摩托车电池数量的增加和电池管理的精细化、智能化需求的增加，电池管理需要获取更多的信息、进行更大量的数据处理，从而需要更多的资源配置。现有技术中采用通用模块对电池系统一并进行管理的方式难以适应这种变化，由此，本发明提出采用独立的电池管理模块来对车辆的是电池系统进行统一管理。所述的电池管理模块可以由专门的数据处理设备实现，便于更多的智能设计和应用扩展。采用独立的电池管理模块还便于对于电池系统之间的线路设计进行优化和升级，例如为电池与电池管理模块之间的线路设计专门的线路或传输方式，以使车辆对于电池的管理和控制更加鲁棒和安全。
图5是本发明的基于双独立控制单元的车辆智控系统的一个实施例的用户终端的显示界面示意图。该实施例中的一个用户终端为手机，手机的界面如图5，当驾驶者之外的其他用户的手机在已被授权的情况下，可以显示该界面。界面上包括有模拟电动摩托车的显示装置的区域，其上显示有电子地图203，电子地图203上可以显示代表电动摩托车的位置的车标204。在电子地图203的两侧分别设有转向指示标志，分别为左转标志201和右转标志202。在显示装置模拟区域下方还设置有一个状态信息栏204，用于显示车辆的实时状态。
当电动摩托车由一驾驶者驾驶时，电动摩托车可通过第一控制单元11能够获得实时的车辆状态信息，包括来源于车辆的各个灯具的实时状态、车辆的速度、车辆电池的剩余电量，以及经第一电子控制单元111计算得到的剩余行驶里程，等等；第一控制单元11将这些实时的车辆状态信息发送到第二控制单元12，第二控制单元也可以从其连接的功能模块中获取车辆相关信息，例如从定 位模块获得的车辆的地理位置信息。从而第二控制单元可以将从第一控制单元11获得的车辆状态数据与从定位模块获得的地理位置信息汇合并发送到云服务端80。由此，在与电动摩托车建立连接的手机可以同时车辆的地理位置信息和车辆状态信息，包括灯具的实时状态、车辆的速度、车辆电池的剩余电量，以及经第一电子控制单元111计算得到的剩余行驶里程等，例如以图5所示的方式进行显示。
需要说明的是，图5仅仅是手机界面的一种示例，本领域的技术人员可以根据所要显示的信息而改变、优化各种数据的显示方式。图5所示的显示方式不应解释为对本发明的用户终端的显示方式的限制。例如，可以在该手机上实时地显示车辆图标在地图画面上运行的动画，包括车辆各个指示灯的状态。这种协同远程显示方式不但能使远程用户详细地获知车辆的运行状态，也同时增强了车辆对于用户的趣味性，提高了用户体验。
并且，虽然图5所显示的是在手机上的一种显示界面，但本发明的用户终端不仅可以是手机，也可以是诸如PC电脑、平板电脑、智能手表、智能眼镜等各种可以作为显示媒介并具有云服务端接入能力的设备。通过类似的原理，也可以在这些用户终端上显示各种与车辆相关的数据。
图6是本发明的于双独立控制单元的车辆智控系统的另一个实施例的交互方式示意图。如图6所示，车辆智控系统还包括智能头盔10，电动摩托车10可与该智能头盔30进行通信。具体来说，车辆智控系统的第二控制单元12的通信模块122还包括有与智能头盔进行通信的通信单元，例如蓝牙通信单元。由此，第二控制单元12可与智能头盔30进行数据交换。在该实施例中，第二控制单元12还能根据用户的操作指令和/或来自云服务端80的控制指令控制所述显示内容。例如，在用户怀疑车辆被盗的情况下，其可以通过用户终端20进行远程操作来关闭显示装置，或者在显示装置上显示相应的警告信息等。再例如，其他用户(例如驾乘者的朋友或家人)在获得授权后，还可以通过用户终端(手机)发送消息，该消息通过云服务器80的转发被第二控制单元12接收，并经由第二控制单元的控制显示于显示装置或显示模块上。
此外，第二控制单元10也可以将和智能头盔进行数据交互，对于文本消息可进行投屏显示。另一种实施方式是，第二控制单元12将文本消息转换成语音消息后向智能头盔发送音频数据，驾乘者可以直接听到所发送的文字消息转换 的语音消息。再一种实施方式是，对于接收到的音频消息，第二控制单元10直接将其转发至向智能头盔，使驾乘者通过头盔听到该音频消息。
图7是上述实施例的智能头盔30的结构框图。如图7的所示，智能头盔30包括主控模块31、收发模块32、通话模块33、音频单元34和投屏模块35。其中，主控模块31用于控制各功能模块的工作并进行协调，以及缓存相关数据，收发模块32用于与第二控制单元的通信模块建立通信连接并收发数据，通话模块33用于接收用户的语音输入和预处理，音频模块34用于控制音频信息的播放，投屏模块35用于投屏显示信息。
智能头盔的收发模块32可以接收来自电动摩托车的各种信息，例如由第一控制单元获取的车辆状态信息，由第二控制单元产生的导航语音信息、导航指示信息(可选择通过投屏显示)，由第二控制单元接收自云服务端的文本消息(可选择通过投屏显示，或由第二控制单元转换为语音后发送)、语音消息，等等。
通话模块33接收至的用户的语音信息可被发送到第二控制模块12，第二控制模块可以将其转换为控制命令以使用户通过语音对整个系统进行设置，例如用户可以通过头盔的通话模块说“导航去火车站”，当第二控制单元接收该语音后，打开其内部的导航应用并将目的地设置为火车站。
音频模块34可以控制各类音频的播放。音频包括来自第二控制单元的导航语音、从云服务端80接收到的语音消息或由接收到的文本消息转化得到的语音消息。
投屏模块35用于投屏各种可以可视化显示的信息，包括由第一控制单元获取的车辆状态信息，由第二控制单元产生的导航指示信息，由第二控制单元接收自云服务端的信息等。
需要说明的是，该实施例描述的智能头盔是本发明的一种示例性实施方式，只要能够与电动摩托车建立通信连接并具有信息的展示或播放的头盔都可应用于本发明中。也就是说，上述智能头盔的各功能模块可以根据不同的目的而进行增加或删减。
由此可知，通过车辆与智能头盔的交互，使得本发明的车辆智控系统的功能更加多样化和便利化，更加改善了用户对于智能、远程控制的感受，提升了用户体验。
图8是本发明的基于双独立控制单元的车辆智控系统中的第二控制单元的一个具体实施例的结构框图。如图8所示，第二电子控制单元121包括重启控 制模块1211和应用运行模块1212。应用运行模块1212用于存储、安装和运行各类应用，而重启控制模块1212用于控制应用运行模块1212的自动重起。作为优选的实施方式，应用运行模块可以安装独立的操作系统，例如Android系统，由此可以在该操作系统上安装和更新各类应用，便于新功能增加和原有功能的升级。
由于应用运行模块1212可能同时支持多个智能应用的运行，因此其可能消耗较多的系统资源，因此其有可能在特定情况下出现运行错误而中止运行的情况(或称“死机”)，例如内部存储空间不足导致溢出等。考虑到用户，尤其是正在驾驶的驾驶员不便于进行操作来进行重启，否则会影响安全，因此本发明提出一种自行重新启动的设置。也就是说，与所述应用运行模块1212相连接的有重启控制模块1211，可以由微处理器实现(MCU)，用于实时监测第二电子控制单元121的应用运行模块1212部分是否死机，如果监测到其死机，则控制该应用运行模块部分进行重新启动。
进一步的，重启控制模块1211还对重启过程进行控制。考虑到在死机和重启过程中数据可能发生中断，该实施例中的重启控制模块1211包括有第一数据存储模块1213，其例如可由RAM实现，第一电子控制单元上报的数据或者云服务端下发的控制指令先缓存于所述重启控制模块的第一数据存储模块1213，然后再发送至所述应用运行模块1212。
由此，如果重启控制模块1211检测到应用运行模块1212死机，在该死机状态下或者在进行重启的过程中，第二电子控制单元121在收到第一电子控制单元111上报的数据或者来自云服务端80的控制指令时，所述重启控制模块会在第一数据存储模块(例如RAM)中缓存该上报的数据或下发的控制指令。等到所述应用运行模块1212正常启动后，所述重启控制模块1211会把第一数据存储模块1213中的数据重新发送给应用运行模块1212。
可见，通过这种自动重启功能，即便电动摩托车等车辆在特殊情况下产生了上层控制单元(第二控制单元)的不正常工作，其也能够迅速地进生重启以恢复相应的功能，这对于提高系统的稳定和和车辆的安全性有很大的帮助。
通过以上对实施方式的描述，本领域的技术人员易于理解，本发明可以由能够执行特定计算机程序的硬件来实现，例如本发明的系统，以及系统中包含的电子处理单元、服务器、客户端、手机、控制单元、处理器等，本发明也可以由包含上述系统或部件的至少一部分的车辆来实现。本发明也可以由执行本 发明的方法的计算机软件来实现，例如由机车端的微处理器、电子控制单元，客户端、服务器端等执行的控制软件来实现。但需要说明的是，执行本发明的方法的计算机软件并不限于由一个或特定个的硬件实体中执行，其也可以是由不特定具体硬件的以分布式的方式来实现，例如计算机程序执行的某些方法步骤可以在机车端执行，另一部分可以在移动终端或智能头盔等中执行。
对于计算机软件，软件产品可以存储在一个计算机可读的存储介质(可以是CD-ROM，U盘，移动硬盘等)中或网络上，包括若干指令以使得一台数据处理设备(可以是个人计算机、服务器、或者网络设备等)执行根据本发明的上述方法。所述计算机可读存储介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了可读程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。可读存储介质还可以是可读存储介质以外的任何可读介质，该可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。可读存储介质上包含的程序代码可以用任何适当的介质传输，包括但不限于无线、有线、光缆、RF等等，或者上述的任意合适的组合。
可以以一种或多种程序设计语言的任意组合来编写用于执行本发明操作的程序代码，所述程序设计语言包括面向对象的程序设计语言—诸如Java、C++等，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算设备上执行、部分地在用户设备上执行、作为一个独立的软件包执行、部分在用户计算设备上部分在远程计算设备上执行、或者完全在远程计算设备或服务器上执行。在涉及远程计算设备的情形中，远程计算设备可以通过任意种类的网络，包括局域网(LAN)或广域网(WAN)，连接到用户计算设备，或者，可以连接到外部计算设备(例如利用因特网服务提供商来通过因特网连接)。
以上所述的具体实施例，对本发明的目的、技术方案和有益效果进行了进一步详细说明，应理解的是，以上所述仅为本发明的具体实施例而已，并不用于限制本发明，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (17)

  1. 一种基于双独立控制单元的车辆智控系统，包括机车端和云服务端，所述机车端能够与云服务端进行信息交互，其特征在于：
    所述机车端包括第一控制单元和第二控制单元，二者可分别独立运行且能够进行实时数据交换；
    所述第一控制单元实时监测所述车辆的运行状态，并将至少部分运行状态数据实时传送给第二控制单元；该第一控制单元根据内部预定指令及接收自所述第二控制单元的控制指令控制车辆的运行；
    所述第二控制单元接收由所述第一控制单元传送的数据，并将接收到的至少部分数据发送给云服务端；该第二控制单元接收来自所述云服务端的控制指令，将用于控制车辆的运行的控制指令转送至所述第一控制单元。
  2. 如权利要求1所述的基于双独立控制单元的车辆智控系统，其特征在于：
    该车辆智控系统还包括用户终端，所述用户终端可以与所述云服务端进行信息交互；
    所述云服务端还用于将来自用户终端的控制指令发送至所述第二控制单元。
  3. 如权利要求2所述的基于双独立控制单元的车辆智控系统，其特征在于：
    所述第二控制单元将其获得的所述运行状态数据发送到云服务端；
    与云服务端建立连接的用户终端获取所述运行状态数据，以在用户终端上实时显示车辆的当前运行状态。
  4. 如权利要求2所述的基于双独立控制单元的车辆智控系统，其特征在于：
    所述第一控制单元包括第一电子控制单元，所述第二控制单元包括第二电子控制单元，所述第一电子控制单元和第二电子控制单元能够进行实时数据交换；
    所述第一电子控制单元不依赖于第二电子控制单元传送的数据对所述车辆的行驶进行控制。
  5. 如权利要求4所述的基于双独立控制单元的车辆智控系统，其特征在于：所述第二控制单元包括设置于车辆的显示模块，所述显示模块用于显示所述运行状态数据。
  6. 如权利要求5所述的基于双独立控制单元的车辆智控系统，其特征在于：所述第二控制单元还根据用户的操作指令和/或来自云服务端的控制指令控制所述显示模块的显示。
  7. 如权利要求5所述的基于双独立控制单元的车辆智控系统，其特征在于：
    所述第二控制单元包括设置车辆的定位模块，所述定位模块用于获取车辆的地理位置信息；
    所述显示模块还用于显示所述地理位置信息。
  8. 如权利要求7所述的基于双独立控制单元的车辆智控系统，其特征在于：
    所述第二控制单元将所述地理位置数据发送到云服务端；
    与云服务端建立连接的用户终端获取所述地理位置数据，以在用户终端上实时显示车辆的地理位置。
  9. 如权利要求4所述的基于双独立控制单元的车辆智控系统，其特征在于：所述第一控制单元还包括传感器，所述传感器用于获取所述车辆运行状态数据，所述第一电子控制单元根据所述传感器获得的运行状态数据控制所述车辆的运行。
  10. 如权利要求9所述的基于双独立控制单元的车辆智控系统，其特征在于：
    所述第一电子控制单元还用于将所述传感器获得的原始数据或者对所述原始数据进行处理后的汇总数据发送至所述第二电子控制单元；
    所述第二电子控制单元还用于将其自身获得的数据和/或所述来自第一电子控制单元的数据发送给所述云服务端。
  11. 如权利要求4所述的基于双独立控制单元的车辆智控系统，其特征在于：所述第一电子控制单元连接有以下模块的至少一种：传感控制模块、人机交互模块和身份识别模块。
  12. 如权利要求11所述的基于双独立控制单元的车辆智控系统，其特征在于：所述传感控制模块连接有电池管理模块，所述电池管理模块用于控制所述车辆的电池系统。
  13. 如权利要求4所述的基于双独立控制单元的车辆智控系统，其特征在于：
    所述车辆智控系统还包括智能头盔，所述第二电子控制单元可与所述智能头盔进行数据交换，以将从所述第一控制单元、第二控制单元和/或云服务端获取的数据发送到所述智能头盔；
    所述智能头盔用于对所述获得的数据进行展示和/或播放。
  14. 如权利要求13所述的基于双独立控制单元的车辆智控系统，其特征在于：
    所述智能头盔包括投屏模块，其用于将来自所述第二电子控制单元的信息进行可视化投屏显示。
  15. 如权利要求3至14中任一项所述的基于双独立控制单元的车辆智控系统，其特征在于：
    所述第二电子控制单元包括重启控制模块和应用运行模块；
    所述应用运行模块用于存储、安装和运行各类应用；
    所述重启控制模块用于控制所述应用运行模块的自动重起。
  16. 如权利要求15所述的基于双独立控制单元的车辆智控系统，其特征在于：
    所述重启控制模块包括第一数据存储模块；
    所述第一电子控制单元向第二电子控制单元上报的数据或者所述云服务端下发到第二电子控制单元的控制指令先缓存于所述第一数据存储模块，然后再由重启控制模块发送至所述应用运行模块。
  17. 一种车辆，包括车体和车辆控制单元统，其特征在于：
    所述车辆控制单元统包括第一控制单元和第二控制单元，二者可分别独立运行且能够进行实时数据交换；
    所述第一控制单元实时监测所述车辆的运行状态，并将至少部分运行状态数据实时传送给第二控制单元；同时，该第一控制单元根据内部预定指令及接收自所述第二控制单元的控制指令控制车辆的运行；
    所述第二控制单元接收由所述第一控制单元传送的数据，并将接收到的至少部分数据发送至一云服务端；同时，该第二控制单元接收来自所述云服务端的控制指令，将用于控制车辆的运行的控制指令转送至所述第一控制单元。
PCT/CN2021/071001 2020-01-19 2021-01-10 基于双独立控制单元的车辆智控系统和车辆 Ceased WO2021143630A1 (zh)

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