Control method and apparatus
View Patent ↗Example control methods and apparatus are described. One example control method includes obtaining, by a first controller, a first operating status of the first controller before a control function of the first controller and/or a control function of a second controller are/is activated. The first controller receives first indication information sent by the second controller, where the first indication information indicates a controller status of the second controller. The first controller sets a first controller mode of the first controller based on the first operating status and the first indication information. Second indication information is sent by the first controller to the second controller, so that a first controller mode of the second controller that is set by the second controller does not conflict with the first controller mode of the first controller.
1. A control method, comprising:
obtaining, by a first controller, a first operating status of the first controller before at least one of a control function of the first controller or a control function of a second controller is activated, wherein the first operating status comprises a faulty state or a non-faulty state;
receiving, by the first controller, first indication information sent by the second controller, wherein the first indication information indicates that a status of the second controller is one of a primary-controller state, a secondary-controller state, or a controller pending state;
setting, by the first controller, a first controller mode of the first controller based on the first operating status and the first indication information, wherein the first controller mode of the first controller comprises a mode in which the first controller is a primary controller or a mode in which the first controller is a secondary controller; and
sending, by the first controller, second indication information to the second controller, wherein the second indication information indicates the first controller mode of the first controller, wherein a first controller mode of the second controller that is set by the second controller does not conflict with the first controller mode of the first controller, and the first controller mode of the second controller comprises a mode in which the second controller is the primary controller or a mode in which the second controller is the secondary controller.
2. The control method according to claim 1 , wherein the control method further comprises:
when the first controller does not receive the first indication information or the received first indication information is invalid, setting, by the first controller, a second controller mode of the first controller based on the first operating status, wherein:
when the first operating status is the faulty state, the second controller mode of the first controller is the mode in which the first controller is the secondary controller, or
when the first operating status is the non-faulty state, the second controller mode of the first controller is the mode in which the first controller is the primary controller; and
sending, by the first controller, third indication information to the second controller, wherein the third indication information indicates the second controller mode of the first controller, wherein a second controller mode of the second controller that is set by the second controller does not conflict with the second controller mode of the first controller, and the second controller mode of the second controller comprises the mode in which the second controller is the primary controller or the mode in which the second controller is the secondary controller.
3. The control method according to claim 2 , wherein when the first controller is the primary controller, the control method further comprises:
obtaining, by the first controller, a second operating status of the first controller, wherein the second operating status comprises a faulty state or a non-faulty state;
receiving, by the first controller, fourth indication information sent by the second controller, wherein the fourth indication information indicates that the status of the second controller is one of the primary-controller state, the secondary-controller state, or the controller pending state;
setting, by the first controller, a third controller mode of the first controller based on the second operating status and the fourth indication information, wherein the third controller mode of the first controller comprises the mode in which the first controller is the primary controller or the mode in which the first controller is the secondary controller; and
sending, by the first controller, fifth indication information to the second controller, wherein the fifth indication information indicates the third controller mode of the first controller, wherein a third controller mode of the second controller that is set by the second controller does not conflict with the third controller mode of the first controller, and the third controller mode of the second controller comprises the mode in which the second controller is the primary controller or the mode in which the second controller is the secondary controller.
4. The control method according to claim 3 , wherein the control method further comprises:
when the first controller does not receive the fourth indication information or the received fourth indication information is invalid, setting, by the first controller, a fourth controller mode of the first controller based on the second operating status, wherein:
when the second operating status is the faulty state, the fourth controller mode of the first controller is the mode in which the first controller is the secondary controller, or
when the second operating status is the non-faulty state, the fourth controller mode of the first controller is the mode in which the first controller is the primary controller; and
sending, by the first controller, sixth indication information to the second controller, wherein the sixth indication information indicates the fourth controller mode of the first controller, wherein a fourth controller mode of the second controller that is set by the second controller does not conflict with the fourth controller mode of the first controller, and the fourth controller mode of the second controller comprises the mode in which the second controller is the primary controller or the mode in which the second controller is the secondary controller.
5. The control method according to claim 3 , wherein:
the second operating status is the faulty state; and
the setting, by the first controller, a third controller mode of the first controller based on the second operating status and the fourth indication information comprises:
setting, by the first controller, the third controller mode of the first controller to the mode in which the first controller is the secondary controller based on the second operating status and the fourth indication information.
6. The control method according to claim 1 , wherein:
the first operating status is the faulty state; and
the setting, by the first controller, a first controller mode of the first controller based on the first operating status and the first indication information comprises:
setting, by the first controller, the first controller mode of the first controller to the mode in which the first controller is the secondary controller based on the first operating status and the first indication information.
7. The control method according to claim 1 , wherein when the first indication information indicates that the status of the second controller is the primary-controller state, the setting, by the first controller, a first controller mode of the first controller based on the first operating status and the first indication information comprises:
setting, by the first controller, the first controller mode of the first controller to the mode in which the first controller is the secondary controller based on the first operating status and the first indication information.
8. The control method according to claim 1 , wherein when the first indication information indicates that the status of the second controller is the secondary-controller state or the controller pending state, and when the first operating status is the non-faulty state, the setting, by the first controller, a first controller mode of the first controller based on the first operating status and the first indication information comprises:
setting, by the first controller, the first controller mode of the first controller to the mode in which the first controller is the primary controller based on the first operating status and the first indication information.
9. A first controller, comprising:
at least one processor; and
one or more memories coupled to the at least one processor and storing programming instructions for execution by the at least one processor to perform operations comprising:
before at least one of a control function of the first controller or a control function of a second controller is activated, obtaining a first operating status of the first controller, wherein the first operating status comprises a faulty state or a non-faulty state;
receiving first indication information sent by the second controller, wherein the first indication information indicates that a status of the second controller is one of a primary-controller state, a secondary-controller state, or a controller pending state;
setting a first controller mode of the first controller based on the first operating status and the first indication information, wherein the first controller mode of the first controller comprises a mode in which the first controller is a primary controller or a mode in which the first controller is a secondary controller; and
sending second indication information to the second controller, wherein the second indication information indicates the first controller mode of the first controller, wherein a first controller mode of the second controller that is set by the second controller does not conflict with the first controller mode of the first controller, and the first controller mode of the second controller comprises a mode in which the second controller is the primary controller or a mode in which the second controller is the secondary controller.
10. The first controller according to claim 9 , wherein the operations comprise:
when the first indication information is not received or the received first indication information is invalid, setting a second controller mode of the first controller based on the first operating status, wherein:
when the first operating status is the faulty state, the second controller mode of the first controller is the mode in which the first controller is the secondary controller, or
when the first operating status is the non-faulty state, the second controller mode of the first controller is the mode in which the first controller is the primary controller; and
sending third indication information to the second controller, wherein the third indication information indicates the second controller mode of the first controller, wherein a second controller mode of the second controller that is set by the second controller does not conflict with the second controller mode of the first controller, and the second controller mode of the second controller comprises the mode in which the second controller is the primary controller or the mode in which the second controller is the secondary controller.
11. The first controller according to claim 10 , wherein when the first controller is the primary controller, the operations further comprise:
obtaining a second operating status of the first controller, wherein the second operating status comprises a faulty state or a non-faulty state;
receiving fourth indication information sent by the second controller, wherein the fourth indication information indicates that the status of the second controller is one of the primary-controller state, the secondary-controller state, or the controller pending state;
setting a third controller mode of the first controller based on the second operating status and the fourth indication information, wherein the third controller mode of the first controller comprises the mode in which the first controller is the primary controller or the mode in which the first controller is the secondary controller; and
sending fifth indication information to the second controller, wherein the fifth indication information indicates the third controller mode of the first controller, wherein a third controller mode of the second controller that is set by the second controller does not conflict with the third controller mode of the first controller, and the third controller mode of the second controller comprises the mode in which the second controller is the primary controller or the mode in which the second controller is the secondary controller.
12. The first controller according to claim 9 , wherein:
the first operating status is the faulty state; and
the operations comprise:
setting the first controller mode of the first controller to the mode in which the first controller is the secondary controller based on the first operating status and the first indication information.
13. The first controller according to claim 9 , wherein the operations comprise:
when the first indication information indicates that the status of the second controller is the primary-controller state, setting the first controller mode of the first controller to the mode in which the first controller is the secondary controller based on the first operating status and the first indication information.
14. The first controller according to claim 9 , wherein the operations comprise:
when the first indication information indicates that the status of the second controller is the secondary-controller state or the controller pending state, and when the first operating status is the non-faulty state, setting the first controller mode of the first controller to the mode in which the first controller is the primary controller based on the first operating status and the first indication information.
15. A second controller, comprising:
at least one processor; and
one or more memories coupled to the at least one processor and storing programming instructions for execution by the at least one processor to perform operations comprising:
before at least one of a control function of a first controller or a control function of the second controller is activated, sending first indication information to the first controller, wherein the first indication information indicates that a status of the second controller is one of a primary-controller state, a secondary-controller state, or a controller pending state;
receiving second indication information sent by the first controller, wherein the second indication information indicates a first controller mode of the first controller, wherein the first controller mode of the first controller is determined based on a first operating status of the first controller and the first indication information; and
setting a first controller mode of the second controller based on the second indication information, wherein the first controller mode of the second controller does not conflict with the first controller mode of the first controller, and wherein the first controller mode of the second controller comprises a mode in which the second controller is a primary controller or a mode in which the second controller is a secondary controller.
16. The second controller according to claim 15 , wherein the operations comprise:
when the first indication information is not sent to the first controller or the sent first indication information is invalid, receiving third indication information sent by the first controller, wherein the third indication information indicates a second controller mode of the first controller; and
setting a second controller mode of the second controller based on the third indication information, wherein the second controller mode of the second controller does not conflict with the second controller mode of the first controller, and wherein the second controller mode of the second controller comprises the mode in which the second controller is the primary controller or the mode in which the second controller is the secondary controller.
17. The second controller according to claim 16 , wherein when the first controller is the primary controller, the operations further comprise:
sending fourth indication information to the first controller, wherein the fourth indication information indicates that the status of the second controller is one of the primary-controller state, the secondary-controller state, or the controller pending state;
receiving fifth indication information sent by the first controller, wherein the fifth indication information indicates a third controller mode of the first controller; and
setting a third controller mode of the second controller based on the fifth indication information, wherein the third controller mode of the second controller does not conflict with the third controller mode of the first controller, and wherein the third controller mode of the second controller comprises the mode in which the second controller is the primary controller or the mode in which the second controller is the secondary controller.
18. The second controller according to claim 17 , wherein when the fourth indication information is not sent to the first controller or the sent fourth indication information is invalid, the operations further comprise:
receiving sixth indication information sent by the first controller, wherein the sixth indication information indicates a fourth controller mode of the first controller; and
setting a fourth controller mode of the second controller based on the sixth indication information, wherein the fourth controller mode of the second controller does not conflict with the fourth controller mode of the first controller, and wherein the fourth controller mode of the second controller comprises the mode in which the second controller is the primary controller or the mode in which the second controller is the secondary controller.
19. The second controller according to claim 18 , wherein at least one of the first indication information, the second indication information, the third indication information, the fourth indication information, the fifth indication information, or the sixth indication information includes signals of consecutive frames.
20. The second controller according to claim 15 , wherein the first controller and the second controller are controllers in a steering system.